[foxy] Action server failed while executing action callback: "Empty Tree"

[trunc8]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Foxy binary (Docker environment based on osrf/ros:foxy-desktop)
• Version or commit hash:
  • dee294b
• DDS implementation:
  • Fast-RTPS
• Nav2 Version:
  • foxy-devel

Steps to reproduce issue

source  /opt/ros/foxy/setup.sh

## For navigation2
mkdir -p ~/nav2_ws/src && cd /nav2_ws/src
git clone -b foxy-devel https://github.com/ros-planning/navigation2.git
cd ~/nav2_ws
export MAKEFLAGS="-j 4"
colcon build --parallel-workers 4
source install/local_setup.sh

## For CustomRobots
cd ~/colcon_ws/src/
git clone -b foxy-devel git@github.com:JdeRobot/CustomRobots.git
cd ~/colcon_ws
colcon build
source install/local_setup.sh

## Launch simulation
ros2 launch amazon_robot_bringup  amazon_robot_in_aws_world.py

In Navigation2 RViz Panel, press "Startup"

Problem 1

• First Set "2D Pose Estimate" at the origin in RViz
• The costmap does not receive the map
• Then in Navigation2 RViz Panel, press "Pause" then "Resume".

Expected behavior

Navigation2 server must restart

Actual behavior

RViz crashes with the following relevant error log:

[lifecycle_manager-14] [INFO] [1623763988.819910346] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-12] [INFO] [1623763988.820151127] [bt_navigator]: Activating
[lifecycle_manager-14] [INFO] [1623763988.820649555] [lifecycle_manager_navigation]: Activating robot_controller
[robot_controller-13] [WARN] [1623763988.820855865] [rcl_lifecycle]: No transition matching 3 found for current state unconfigured
[robot_controller-13] [ERROR] [1623763988.820880782] []: Unable to start transition 3 from current state unconfigured: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.11/src/rcl_lifecycle.c:350
[lifecycle_manager-14] [ERROR] [1623763988.821223416] [lifecycle_manager_navigation]: Failed to change state for node: robot_controller
[lifecycle_manager-14] [ERROR] [1623763988.821246357] [lifecycle_manager_navigation]: Failed to resume nodes: aborting resume
[ERROR] [rviz2-5]: process has died [pid 3756, exit code -11, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/trunc8d/shared-directory/exercise_ws/install/amazon_robot_bringup/share/amazon_robot_bringup/rviz/amazon_robot_default_view.rviz --ros-args -r __node:=rviz2'].

Problem 2

• Firstly, in Navigation2 RViz Panel, press "Pause" then "Resume".
• Then set "2D Pose Estimate" at the origin in RViz
• The costmaps now appear on the map
• Giving individual 2D Nav goal in RViz works. The bot reaches goal inside both Gazebo and Rviz
• In Navigation2 RViz Panel, press "Waypoint mode"
• Give any number of 2D Nav goals on map
• In Navigation2 RViz Panel, press "Start Navigation"

Expected behavior

The bot should reach all the waypoints sequentially

Actual behavior

The bot does not move with the following relevant error log:

[rviz2-5] Start waypoint
[rviz2-5] [INFO] [1623763943.465430792] [rviz2]: Sending a path of 2 waypoints:
[robot_controller-13] [INFO] [1623763943.466319666] [robot_controller]: Initalizing Blackboard
[robot_controller-13] [ERROR] [1623763943.466381503] [robot_controller]: Action server failed while executing action callback: "Empty Tree"
[robot_controller-13] [WARN] [1623763943.466391982] [robot_controller]: [FollowTargets] [ActionServer] Aborting handle.

Additional Comments

It seems that the Behavior tree fails to load in amazon_warehouse simulation

Related issues:

• Fix waypoint navigation issue in Amazon warehouse exercise code (Debug amazon_robot_controller) TheRoboticsClub/gsoc2021-Siddharth_Saha#12
• Fix issue in Amazon warehouse exercise code that requires us to press Pause and Resume in order to begin the costmaps TheRoboticsClub/gsoc2021-Siddharth_Saha#13