Navigation Demo Stopped Working on ROS2 Jazzy

[frank-gallagher]

Robot Model

Turtlebot4 Standard

ROS distro

Jazzy

Networking Configuration

Simple Discovery

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

ros-jazzy-turtlebot4-navigation
Version: 2.0.1-1noble.20250430.071125

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

Behaviour described in the navigation tutorial

Actual behaviour

TB4 doesn't move to 2D goal pose

Error messages

[controller_server-1] [ERROR] [1746882382.323839447] [controller_server]: Caught exception in callback for transition 10
[controller_server-1] [ERROR] [1746882382.323941469] [controller_server]: Original error: Considering footprint in collision checking but no robot footprint provided in the costmap.
[controller_server-1] [WARN] [1746882382.323985645] [controller_server]: Error occurred while doing error handling.
[controller_server-1] [FATAL] [1746882382.323999128] [controller_server]: Lifecycle node controller_server does not have error state implemented
[lifecycle_manager-10] [ERROR] [1746882382.327852169] [lifecycle_manager_navigation]: Failed to change state for node: controller_server
[lifecycle_manager-10] [ERROR] [1746882382.328004271] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

To Reproduce

1. ros2 launch turtlebot4_navigation localization.launch.py map:=office.yaml
2. ros2 launch turtlebot4_navigation nav2.launch.py
3. ros2 launch turtlebot4_viz view_navigation.launch.py

Other notes

This worked out of the box a few weeks ago when I got the robot. Without changing anything it stopped working.

[dscholles81]

Hi,
i am new with ROS, i bought a TurtleBot4 this year.
Since i updated the turtlebot4 packages with apt i run into the same error.
So i flashed a new sd card for the pi, updated it, but the error still exists.

Thank you frank-gallagher for reporting the error, thank you pradyum for fixin it :) :) :)

[civerachb-cpr]

Thanks for this! It looks like this may be the result of a recent change to Nav2. Because the Turtlebot4 is circular we were using the robot_radius parameter to set the footprint in the local and global costmaps. It appears that's no longer an option, so the change in #592 to change to a footprint works.

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Edit

I'm releasing the fix for this as part of 2.1.0. It should be available as a debian after the next Jazzy sync if all goes well.