sm_dance_bot: "Authority undetectable"

[DecDury]

Describe the bug
A clear and concise description of what the bug is.

Soon after launching, the robot froze on the first radial pattern. After some time passed (a few minutes) and there was no activity in the terminals, planner_server, sm_dance_bot_node, and the original terminal in which sm_dance_bot was launched from were all filled with a repeating message saying some variant of "Authority undetectable."
Will attach picture below

To Reproduce
Steps to reproduce the behavior:

Iterations of radial patterns were set to two before launching.
Launch sm_dance_bot via ros2 launch sm_dance_bot sm_dance_bot_launch.py
let it run until it stops

(Aside: the tests I have done have been back to back with little to no changes. What causes this variability? It completed all three radial pasterns and the f-pattern before failing last time. Is there something I need to do to ensure the same conditions each test?)

Expected behavior
A clear and concise description of what you expected to happen.

Expected it to make more progress in its dance.

Screenshots
If applicable, add screenshots to help explain your problem.

Environment (please complete the following information):

ROS DETAILS:

• OS: Ubuntu 20.04 LTS
• Version Rolling

REPO DETAILS:

• Repository: robosoft-ai/SMACC2
• Branch: master
• Commit (First 5 Digits): b0ba4

BUILDSPACE DETAILS (List all packages):

• [e.g. ros2_control - 6bbde]
• [e.g. moveit2 - 6bbde]
• ...

BUILD DETAILS

• Build Command: [e.g. colcon build --symlink-install]
• colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

TEST DETAILS

• Launch file: ros2 launch sm_dance_bot sm_dance_bot_launch.py

Additional context

• Anything that may be unusual about your environment
  suspected dirty system after failed NVIDIA driver install and recovery but uncertain.

Add any other context about the problem here, especially include any modifications to smacc2 that relate to this issue.

Only change was the number of iterations in each radial pattern. Set to two for faster testing.

Error Details

Cut and Paste Here... (e.g. terminal output)

rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[recoveries_server-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[recoveries_server-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[recoveries_server-12]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[sync_slam_toolbox_node-9] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[sync_slam_toolbox_node-9] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[sync_slam_toolbox_node-9]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[sync_slam_toolbox_node-9] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[sync_slam_toolbox_node-9] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[sync_slam_toolbox_node-9]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[recoveries_server-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[recoveries_server-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[recoveries_server-12]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] [INFO] [1633972510.959791399] [rviz2]: Message Filter dropping message: frame 'odom' at time 3324.835 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-8] [INFO] [1633972510.959857538] [rviz2]: Message Filter dropping message: frame 'odom' at time 3324.937 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame base_footprint at time 3325.107000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame wheel_left_link at time 3325.107000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame wheel_right_link at time 3325.107000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame wheel_left_link at time 3325.107000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame wheel_right_link at time 3325.107000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[recoveries_server-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[recoveries_server-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[recoveries_server-12]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[sync_slam_toolbox_node-9] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[sync_slam_toolbox_node-9] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[sync_slam_toolbox_node-9]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[recoveries_server-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[recoveries_server-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[recoveries_server-12]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[sync_slam_toolbox_node-9] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[sync_slam_toolbox_node-9] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[sync_slam_toolbox_node-9]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[sync_slam_toolbox_node-9] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[sync_slam_toolbox_node-9] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[sync_slam_toolbox_node-9]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[rviz2-8] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[rviz2-8] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-8]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[recoveries_server-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[recoveries_server-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[recoveries_server-12]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ERROR] [temperature_sensor_node-5]: process has died [pid 57577, exit code 2, cmd 'xterm -xrm XTerm*scrollBar:  true -xrm xterm*rightScrollBar: true -hold -geometry 1000x600 -sl 10000 -e /home/dec/workspace/rolling_ws/install/sm_dance_bot/lib/sm_dance_bot/temperature_sensor_node --ros-args'].
[ERROR] [lifecycle_manager-15]: process has died [pid 57637, exit code 2, cmd 'xterm -xrm XTerm*scrollBar:  true -xrm xterm*rightScrollBar: true -hold -geometry 1000x600 -sl 10000 -e /home/dec/workspace/rolling_ws/install/nav2_lifecycle_manager/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args --log-level INFO --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_w028c0sv --params-file /tmp/launch_params_6rjuyr16 --params-file /tmp/launch_params_xlxf27vj'].
[ERROR] [led_action_server_node-6]: process has died [pid 57579, exit code 2, cmd 'xterm -xrm XTerm*scrollBar:  true -xrm xterm*rightScrollBar: true -hold -geometry 1000x600 -sl 10000 -e /home/dec/workspace/rolling_ws/install/sm_dance_bot/lib/sm_dance_bot/led_action_server_node --ros-args'].
[ERROR] [service_node_3.py-4]: process has died [pid 57575, exit code 2, cmd 'xterm -xrm XTerm*scrollBar:  true -xrm xterm*rightScrollBar: true -hold -geometry 1000x600 -sl 10000 -e /home/dec/workspace/rolling_ws/install/sm_dance_bot/lib/sm_dance_bot/service_node_3.py --ros-args --params-file /tmp/launch_params_ta_ogqnv'].
[ERROR] [sm_dance_bot_node-3]: process has died [pid 57573, exit code 2, cmd 'xterm -xrm XTerm*scrollBar:  true -xrm xterm*rightScrollBar: true -hold -geometry 1000x600 -sl 10000 -e /home/dec/workspace/rolling_ws/install/sm_dance_bot/lib/sm_dance_bot/sm_dance_bot_node --ros-args --log-level INFO --ros-args -r __node:=SmDanceBot --params-file /home/dec/workspace/rolling_ws/install/sm_dance_bot/share/sm_dance_bot/params/sm_dance_bot_config.yaml'].
[ERROR] [planner_server-11]: process has died [pid 57603, exit code 2, cmd 'xterm -xrm XTerm*scrollBar:  true -xrm xterm*rightScrollBar: true -hold -geometry 1000x600 -sl 10000 -e /home/dec/workspace/rolling_ws/install/nav2_planner/lib/nav2_planner/planner_server --ros-args --log-level INFO --ros-args -r __node:=planner_server --params-file /tmp/tmp_kivvnl1 -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [controller_server-10]: process has died [pid 57589, exit code 2, cmd 'xterm -xrm XTerm*scrollBar:  true -xrm xterm*rightScrollBar: true -hold -geometry 1000x600 -sl 10000 -e /home/dec/workspace/rolling_ws/install/nav2_controller/lib/nav2_controller/controller_server --ros-args --log-level INFO --ros-args --params-file /tmp/tmp3otjbwbt -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [bt_navigator-13]: process has died [pid 57619, exit code 2, cmd 'xterm -xrm XTerm*scrollBar:  true -xrm xterm*rightScrollBar: true -hold -geometry 1000x600 -sl 10000 -e /home/dec/workspace/rolling_ws/install/nav2_bt_navigator/lib/nav2_bt_navigator/bt_navigator --ros-args --log-level INFO --ros-args -r __node:=bt_navigator --params-file /tmp/tmp2prom7mo -r /tf:=tf -r /tf_static:=tf_static'].
[waypoint_follower-14] [INFO] [1633972510.996291180] [rclcpp]: signal_handler(signal_value=2)
[waypoint_follower-14] [INFO] [1633972511.000316622] [waypoint_follower]: Destroying
[rviz2-8] [INFO] [1633972510.996367096] [rclcpp]: signal_handler(signal_value=2)
[rviz2-8] [INFO] [1633972510.997104174] [rviz2]: Message Filter dropping message: frame 'odom' at time 3324.801 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-8] [INFO] [1633972510.997216689] [rviz2]: Message Filter dropping message: frame 'odom' at time 3324.971 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[sync_slam_toolbox_node-9] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[sync_slam_toolbox_node-9] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[sync_slam_toolbox_node-9]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[sync_slam_toolbox_node-9] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[sync_slam_toolbox_node-9] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[sync_slam_toolbox_node-9]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[sync_slam_toolbox_node-9] [INFO] [1633972511.010153220] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-7] [INFO] [1633972511.004338046] [rclcpp]: signal_handler(signal_value=2)
[recoveries_server-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[recoveries_server-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[recoveries_server-12]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[recoveries_server-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 3325.155000 according to authority Authority undetectable
[recoveries_server-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[recoveries_server-12]          at line 355 in /tmp/binarydeb/ros-rolling-tf2-0.18.0/src/buffer_core.cpp
[recoveries_server-12] [INFO] [1633972511.017613156] [rclcpp]: signal_handler(signal_value=2)
[recoveries_server-12] [INFO] [1633972511.025174518] [recoveries_server]: Destroying
[ERROR] [sync_slam_toolbox_node-9]: process has died [pid 57585, exit code -11, cmd '/home/dec/workspace/rolling_ws/install/slam_toolbox/lib/slam_toolbox/sync_slam_toolbox_node --ros-args -r __node:=slam_toolbox --params-file /home/dec/workspace/rolling_ws/install/slam_toolbox/share/slam_toolbox/config/mapper_params_online_sync.yaml --params-file /tmp/launch_params_nkdgze36']

[DecDury]

Forgot to point out that in the first image above the robot is no longer visible in RViz.
In Gazebo it was frozen but still visible.