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planner server died with "invalid transition from state ABORTED with event CANCEL_GOAL" #2499
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That is odd. I would be interested if this would happen again or if you found that happened just a single time out of the blue. The error looks pretty low level to me, which I think is not caused by Nav2 itself but a disruption in the ROS2 core stack. The error is from the goal handle which could signal that we're misusing something, but I would want to verify that claim since this is a new error and we have many Foxy users. Getting a traceback would be necessary to debug any further https://navigation.ros.org/tutorials/docs/get_backtrace.html. Just googling this came up with ros2/rmw_connextdds#8 and ros2/rmw_fastrtps#522 which seems to point at 'not our fault', but I'm not ready to make that claim yet. CC @ruffsl that filed those tickets. Are you using security? |
Thanks for your quick reply @SteveMacenski . |
Sure, I'd definitely appreciate a new unit test 😄. I always love more tests! Let me know if this happens again + any new information you can give us. If you go some |
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This trace in the planner server points to it being an issue in the fast rtps rmw. You should file a ticket with them with the information of these 3 tickets and close them on nav2, since I don't even see anything in Nav2 show up in that trace at all, it doesn't even get to that layer before the issue occurs. I'm not an expert in the inner workings of C++ futures, but the BT navigator trace appears to nod to that as well, it looks like its issue is related to the future not being fulfilled due to said crash. |
Thanks @SteveMacenski |
I don't understand what you mean, can you explain? I read the BT nav issue being in the futures which are being messed up due to the crash on the promiser side (planner server). That ticket is just a traceback, the issue is described here with the tracebacks, we should not reopen any of those tickets, they contained no actual context or issue to resolve. |
Ok, @SteveMacenski |
Closing this here since it is cross referenced back home to fast-rtps, but I'm open to reopening it if there turns out to be a component to this issue that we can resolve within Nav2. Let me know. |
Bug report
Required Info:
Steps to reproduce issue
I just set goals several times.
Expected behavior
planner_server should always work.
Actual behavior
planner_server died.
Additional information
See the logs below.
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