Example code - RViz is stuck

[KhachDavid]

I am new to ROS and trying to explore nav stack by launching the nav2_bringup example. My Rviz crashes everytime.

I checked #4722 but it does not look like my issue is the same. I compared my logs to the logs uploaded there.

Below is a video (25 seconds)
video_rviz_issue_nav2.zip

echo $GAZEBO_MODEL_PATH 
:/opt/ros/jazzy/share/turtlebot3_gazebo/models:/opt/ros/jazzy/share/turtlebot3_gazebo/models:/opt/ros/jazzy/share/turtlebot3_gazebo/models

Bug report

When launching the example here, my RViz is stuck. I have included the logs below.

There is this error message that I would like to highlight:

[component_container_isolated-8] [INFO] [1732555848.352136781] [local_costmap.local_costmap]: Subscribed to Topics: scan                                                                      
[component_container_isolated-8] [INFO] [1732555848.354602750] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"                                                                
[component_container_isolated-8] [INFO] [1732555848.354612036] [local_costmap.local_costmap]: Using plugin "inflation_layer"                                                                  
[component_container_isolated-8] [INFO] [1732555848.354940211] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"                                                            
[component_container_isolated-8] /opt/ros/jazzy/lib/rclcpp_components/component_container_isolated: symbol lookup error: /opt/ros/jazzy/lib/libnav2_costmap_2d_core.so: undefined symbol: _ZN2
2rosidl_typesupport_cpp31get_service_type_support_handleIN9nav2_msgs3srv7GetCostEEEPK29rosidl_service_type_support_tv                                                                         
[ERROR] [component_container_isolated-8]: process has died [pid 1374848, exit code 127, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --r
os-args -r __node:=nav2_container --params-file /tmp/launch_params_6luchl6t --params-file /tmp/launch_params_j1n9a6w_ -r /tf:=tf -r /tf_static:=tf_static'].                                  
[rviz2-7] [INFO] [1732555848.434410591] [rviz2]: Trying to create a map of size 384 x 384 using 1 swatches                                                                                    
[rviz2-7] [ERROR] [1732555848.451169535] [rviz2]: rviz/glsl120/indexed_8bit_image.vert 

Full log here

log.zip

Required Info:

• Operating System:

  • Ubuntu 24.04 -->

• ROS2 Version:

  • Jazzy -->

• Version or commit hash:

  • ros-jazzy-nav2-amcl 1.3.3-1noble.20241109.000608
    ros-jazzy-nav2-behavior-tree 1.3.3-1noble.20241109.000433
    ros-jazzy-nav2-behaviors 1.3.3-1noble.20241109.010529
    ros-jazzy-nav2-bringup 1.3.3-1noble.20241118.193325
    ros-jazzy-nav2-bt-navigator 1.3.3-1noble.20241109.010757
    ros-jazzy-nav2-collision-monitor 1.3.3-1noble.20241109.010210
    ros-jazzy-nav2-common 1.3.3-1noble.20241108.234157
    ros-jazzy-nav2-constrained-smoother 1.3.3-1noble.20241109.010750
    ros-jazzy-nav2-controller 1.3.3-1noble.20241109.010717
    ros-jazzy-nav2-core 1.3.3-1noble.20241109.010214
    ros-jazzy-nav2-costmap-2d 1.3.3-1noble.20241109.004751
    ros-jazzy-nav2-dwb-controller 1.3.3-1noble.20241109.011529
    ros-jazzy-nav2-graceful-controller 1.3.3-1noble.20241109.011208
    ros-jazzy-nav2-lifecycle-manager 1.3.3-1noble.20241109.000635
    ros-jazzy-nav2-map-server 1.3.3-1noble.20241109.000738
    ros-jazzy-nav2-minimal-tb3-sim 1.0.1-1noble.20241115.213323
    ros-jazzy-nav2-minimal-tb4-description 1.0.1-1noble.20241018.103646
    ros-jazzy-nav2-minimal-tb4-sim 1.0.1-1noble.20241115.213323
    ros-jazzy-nav2-mppi-controller 1.3.3-1noble.20241109.011824
    ros-jazzy-nav2-msgs 1.3.1-1noble.20240712.124731
    ros-jazzy-nav2-navfn-planner 1.3.3-1noble.20241109.011245
    ros-jazzy-nav2-planner 1.3.3-1noble.20241109.011408
    ros-jazzy-nav2-regulated-pure-pursuit-controller 1.3.3-1noble.20241109.011408
    ros-jazzy-nav2-rotation-shim-controller 1.3.3-1noble.20241109.011518
    ros-jazzy-nav2-rviz-plugins 1.3.3-1noble.20241115.194823
    ros-jazzy-nav2-simple-commander 1.3.3-1noble.20241108.235801
    ros-jazzy-nav2-smac-planner 1.3.3-1noble.20241109.011529
    ros-jazzy-nav2-smoother 1.3.3-1noble.20241109.011639
    ros-jazzy-nav2-theta-star-planner 1.3.3-1noble.20241109.011812
    ros-jazzy-nav2-util 1.3.3-1noble.20241108.235810
    ros-jazzy-nav2-velocity-smoother 1.3.3-1noble.20241109.001317
    ros-jazzy-nav2-voxel-grid 1.3.3-1noble.20241108.234547
    ros-jazzy-nav2-waypoint-follower 1.3.3-1noble.20241109.012037

• DDS implementation:

  • --> Online example is not working on ros2 jazzy  #4722

Steps to reproduce issue

I followed the guide and it just did not work.

Expected behavior

I would like to go through the example and click on Startup.

Actual behavior

RViz crashes and forces me to quit

Additional information

---

Feature request

N/A

Feature description

N/A

Implementation considerations

N/A

[SteveMacenski]

I opened up a docker container on osrf/ros:jazzy-desktop-full and installed the Jazzy binaries. I'm not seeing this issue -- everything's working as intended

nav2_msgs3srv7GetCost

This is a relatively new entry, so that makes me think for some reason you have updated some packages that require this, but didn't update the nav2_msgs package itself that contains it. Did you try doing a full apt update and apt upgrade so you have all the latest packages?

You can reproduce:

sudo docker run -it --net=host --privileged --volume="${XAUTHORITY}:/root/.Xauthority" --env="DISPLAY=$DISPLAY" -v="/tmp/.gazebo/:/root/.gazebo/" -v /tmp/.X11-unix:/tmp/.X11-unix:rw --shm-size=1000mb osrf/ros:jazzy-desktop-full

    1  rosdep init
    2  rosdep update
    3  apt update
    4  sudo apt install ros-jazzy-nav2-bringup ros-jazzy-navigation2
    5  source /opt/ros/jazzy/setup.bash 
    6  ros2 launch nav2_bringup tb3_simulation_launch.py

[padhupradheep]

This could probably be the same issue as that of #4754

[SteveMacenski]

I dont think so... can you explain your thinking? I think the user's configuration is just out of sync with some manual updates to base packages without updating higher level packages simultaneously

[padhupradheep]

I just realized too after looking at the logs carefully, sorry for the oversight:

/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated: symbol lookup error: /opt/ros/jazzy/lib/libnav2_costmap_2d_core.so: undefined symbol: _ZN2
2rosidl_typesupport_cpp31get_service_type_support_handleIN9nav2_msgs3srv7GetCostEEEPK29rosidl_service_type_support_tv                                       

[KhachDavid]

So, upgrading all the ros-jazzy-simulation packages is the fix for this. Someone else reproduced this issue on their machine and upgrading these select packages makes the lookup transform error go away.

[padhupradheep]

Great. Closing the issue.