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Terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' with Nav2 #522

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ruffsl opened this issue Apr 2, 2021 · 3 comments
Closed

Terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' with Nav2 #522

ruffsl opened this issue Apr 2, 2021 · 3 comments
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@jacobperron

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@ruffsl
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ruffsl commented Apr 2, 2021 •
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The Nav2 stack crashes immediately upon startup when using rmw_fastrtps_cpp with security.

Bug report

Required Info:

  • Operating System:
    • Ubuntu 20.04
  • Installation type:
    • foxy/binary
  • Version or commit hash:
    • ros-foxy-fastrtps/now 2.0.2-2focal.20210225.202742 amd64
  • DDS implementation:
    • Fast-RTPS
  • Client library (if applicable):
    • rclcpp

Steps to reproduce issue

Clone the turtlebot3_demo repo from the ros security working group:

git clone https://github.com/ros-swg/turtlebot3_demo.git --branch foxy

Apply the following patch to use the short and permissive root enclave:

diff --git a/configs/common.conf b/configs/common.conf
index b4bd118..af35d98 100644
--- a/configs/common.conf
+++ b/configs/common.conf
@@ -1,10 +1,10 @@
 # setup secure session
 new-window -n turtlebot
-send-keys 'export ROS_SECURITY_ENCLAVE_OVERRIDE=/gazebo' Enter
+send-keys 'export ROS_SECURITY_ENCLAVE_OVERRIDE=/' Enter
 send-keys 'ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py' Enter
 
 split-window -h
-send-keys 'export ROS_SECURITY_ENCLAVE_OVERRIDE=/teleop' Enter
+send-keys 'export ROS_SECURITY_ENCLAVE_OVERRIDE=/' Enter
 send-keys 'ros2 run turtlebot3_teleop teleop_keyboard' Enter
 
 split-window -v
@@ -15,7 +15,7 @@ select-pane -t 1
 
 # create navigation window
 new-window -n navigation
-send-keys 'export ROS_SECURITY_ENCLAVE_OVERRIDE=/nav2_map' Enter
+send-keys 'export ROS_SECURITY_ENCLAVE_OVERRIDE=/' Enter
 send-keys 'ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False' Enter
 
 split-window -h
@@ -29,7 +29,7 @@ select-pane -t 1
 
 # create mapping window
 new-window -n mapping
-send-keys 'export ROS_SECURITY_ENCLAVE_OVERRIDE=/nav2_slam' Enter
+send-keys 'export ROS_SECURITY_ENCLAVE_OVERRIDE=/' Enter
 send-keys 'ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False slam:=True' # Enter
 
 split-window -h

Follow instructions in Setting the Demo for installing docker and rocker, etc. Then build and run either the demo with or without DDS security, using byobu to switch to the navigation tmux tab to either view the stdout or debug launching nav2 stack.

docker build --tag rosswg/turtlebot3_demo --pull
rocker --x11 --nvidia rosswg/turtlebot3_demo "byobu -f configs/unsecure.conf attach"
rocker --x11 --nvidia rosswg/turtlebot3_demo "byobu -f configs/secure.conf attach"

To attach the demo to the host's network interfaces, you may need to run the container as privileged to get the rviz and gazebo GUI to adapt with the dbus, while also using the host's PID and IPC namespace to avoid issues with colliding DDS GUIDs as referenced in this answers.ros.org question here

rocker --x11 --nvidia --oyr-run-arg " \
    --ipc=host \
    --net=host \
    --pid=host \
    --privileged" \
  rosswg/turtlebot3_demo \
  "byobu -f configs/unsecure.conf attach"

Expected behavior

The nav2 stack works as expected when using rmw_fastrtps_cpp with or without DDS Security.

Actual behavior

The nav2 stack only works as expected when using rmw_fastrtps_cpp when DDS Security is disabled.

Otherwise, one encounters numerous DDS security errors:

ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False
[INFO] [launch]: All log files can be found below /root/.ros/log/2021-03-16-16-55-37-489495-ada7fa7b9aca-1588
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_server-3]: process started with pid [1619]
[INFO] [amcl-4]: process started with pid [1621]
[INFO] [lifecycle_manager-5]: process started with pid [1623]
[INFO] [controller_server-6]: process started with pid [1625]
[INFO] [planner_server-7]: process started with pid [1627]
[INFO] [recoveries_server-8]: process started with pid [1629]
[INFO] [bt_navigator-9]: process started with pid [1631]
[INFO] [waypoint_follower-10]: process started with pid [1633]
[INFO] [lifecycle_manager-11]: process started with pid [1635]
[robot_state_publisher-1] [INFO] [1615938938.043375457] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[lifecycle_manager-5] [INFO] [1615938938.050648594] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[amcl-4] [INFO] [1615938938.055247808] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[controller_server-6] [INFO] [1615938938.055888210] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[bt_navigator-9] [INFO] [1615938938.056186747] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[lifecycle_manager-11] [INFO] [1615938938.059064530] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[map_server-3] [INFO] [1615938938.060124909] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[recoveries_server-8] [INFO] [1615938938.061607010] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[robot_state_publisher-1] [WARN] [1615938938.061687369] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 2 children
[robot_state_publisher-1] Link camera_depth_frame had 1 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] [INFO] [1615938938.065196199] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1615938938.065245141] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1615938938.065261301] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1615938938.065366616] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1615938938.065440217] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1615938938.065462735] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1615938938.065494091] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1615938938.065532644] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1615938938.065545487] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1615938938.065567595] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1615938938.065615250] [robot_state_publisher]: got segment imu_link
[lifecycle_manager-5] [INFO] [1615938938.070753964] [lifecycle_manager_localization]: Creating
[bt_navigator-9] [INFO] [1615938938.078728130] [bt_navigator]: 
[bt_navigator-9]        bt_navigator lifecycle node launched. 
[bt_navigator-9]        Waiting on external lifecycle transitions to activate
[bt_navigator-9]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-9] [INFO] [1615938938.078926957] [bt_navigator]: Creating
[waypoint_follower-10] [INFO] [1615938938.079777820] [waypoint_follower]: 
[waypoint_follower-10]  waypoint_follower lifecycle node launched. 
[waypoint_follower-10]  Waiting on external lifecycle transitions to activate
[waypoint_follower-10]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-10] [INFO] [1615938938.079908179] [waypoint_follower]: Creating
[lifecycle_manager-11] [INFO] [1615938938.086251020] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-5] [INFO] [1615938938.089381989] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[lifecycle_manager-5] [INFO] [1615938938.091675005] [lifecycle_manager_localization]: Starting managed nodes bringup...
[lifecycle_manager-5] [INFO] [1615938938.092357715] [lifecycle_manager_localization]: Configuring map_server
[lifecycle_manager-11] [INFO] [1615938938.092984347] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[controller_server-6] [INFO] [1615938938.095720808] [controller_server]: 
[controller_server-6]   controller_server lifecycle node launched. 
[controller_server-6]   Waiting on external lifecycle transitions to activate
[planner_server-7] [INFO] [1615938938.096148336] [planner_server]: 
[planner_server-7]      planner_server lifecycle node launched. 
[planner_server-7]      Waiting on external lifecycle transitions to activate
[planner_server-7]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-6]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-11] [INFO] [1615938938.099026979] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-11] [INFO] [1615938938.099069634] [lifecycle_manager_navigation]: Configuring controller_server
[amcl-4] [INFO] [1615938938.099026252] [amcl]: 
[amcl-4]        amcl lifecycle node launched. 
[amcl-4]        Waiting on external lifecycle transitions to activate
[amcl-4]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-4] [INFO] [1615938938.099217871] [amcl]: Creating
[planner_server-7] [INFO] [1615938938.099453113] [planner_server]: Creating
[map_server-3] [INFO] [1615938938.102759363] [map_server]: 
[map_server-3]  map_server lifecycle node launched. 
[map_server-3]  Waiting on external lifecycle transitions to activate
[map_server-3]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-3] [INFO] [1615938938.102888044] [map_server]: Creating
[controller_server-6] [INFO] [1615938938.107126006] [controller_server]: Creating controller server
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[recoveries_server-8] [INFO] [1615938938.110955000] [recoveries_server]: 
[recoveries_server-8]   recoveries_server lifecycle node launched. 
[recoveries_server-8]   Waiting on external lifecycle transitions to activate
[recoveries_server-8]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-7] [INFO] [1615938938.120994924] [global_costmap.global_costmap]: 
[planner_server-7]      global_costmap lifecycle node launched. 
[planner_server-7]      Waiting on external lifecycle transitions to activate
[planner_server-7]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-7] [INFO] [1615938938.122525920] [global_costmap.global_costmap]: Creating Costmap
[rviz2-2] [INFO] [1615938938.123719222] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[controller_server-6] [INFO] [1615938938.125166808] [local_costmap.local_costmap]: 
[controller_server-6]   local_costmap lifecycle node launched. 
[controller_server-6]   Waiting on external lifecycle transitions to activate
[controller_server-6]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-6] [INFO] [1615938938.126153713] [local_costmap.local_costmap]: Creating Costmap
[waypoint_follower-10] 2021-03-16 16:55:38.159 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.160 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-03-16 16:55:38.169 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.187 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.200 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.499 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.500 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] [INFO] [1615938938.503243761] [map_server]: Configuring
[map_server-3] [INFO] [map_io]: Loading yaml file: /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.yaml
[map_server-3] [DEBUG] [map_io]: resolution: 0.05
[map_server-3] [DEBUG] [map_io]: origin[0]: -10
[map_server-3] [DEBUG] [map_io]: origin[1]: -10
[map_server-3] [DEBUG] [map_io]: origin[2]: 0
[map_server-3] [DEBUG] [map_io]: free_thresh: 0.196
[map_server-3] [DEBUG] [map_io]: occupied_thresh: 0.65
[map_server-3] [DEBUG] [map_io]: mode: trinary
[map_server-3] [DEBUG] [map_io]: negate: 0
[map_server-3] [INFO] [map_io]: Loading image_file: /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.pgm
[lifecycle_manager-5] 2021-03-16 16:55:38.514 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.514 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.525 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[recoveries_server-8] 2021-03-16 16:55:38.525 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] [DEBUG] [map_io]: Read map /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.pgm: 384 X 384 map @ 0.05 m/cell
[waypoint_follower-10] 2021-03-16 16:55:38.529 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.529 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.531 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.531 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.531 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.533 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[recoveries_server-8] 2021-03-16 16:55:38.533 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.533 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] [INFO] [1615938938.534265029] [lifecycle_manager_localization]: Configuring amcl
[robot_state_publisher-1] 2021-03-16 16:55:38.539 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-03-16 16:55:38.560 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.570 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-03-16 16:55:38.570 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-03-16 16:55:38.573 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] 2021-03-16 16:55:38.573 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:38.573 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[recoveries_server-8] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.581 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.581 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] 2021-03-16 16:55:38.584 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-03-16 16:55:38.584 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.586 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] 2021-03-16 16:55:38.586 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.587 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.587 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.590 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.590 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-03-16 16:55:38.590 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] 2021-03-16 16:55:38.590 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] 2021-03-16 16:55:38.595 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.612 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.614 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:38.614 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.623 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-03-16 16:55:38.623 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.623 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] [INFO] [1615938938.635173164] [amcl]: Configuring
[amcl-4] [INFO] [1615938938.635333292] [amcl]: initTransforms
[lifecycle_manager-5] 2021-03-16 16:55:38.635 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-03-16 16:55:38.635 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.636 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[recoveries_server-8] 2021-03-16 16:55:38.636 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.636 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-03-16 16:55:38.639 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] 2021-03-16 16:55:38.641 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-03-16 16:55:38.641 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.641 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.642 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.643 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.643 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.643 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.643 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-03-16 16:55:38.644 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-03-16 16:55:38.644 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.645 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] [INFO] [1615938938.645856504] [amcl]: initPubSub
[robot_state_publisher-1] 2021-03-16 16:55:38.646 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.647 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.648 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-03-16 16:55:38.648 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[rviz2-2] 2021-03-16 16:55:38.648 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.648 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-03-16 16:55:38.649 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] 2021-03-16 16:55:38.649 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] Magick: abort due to signal 11 (SIGSEGV) "Segmentation Fault"...
[robot_state_publisher-1] 2021-03-16 16:55:38.649 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:38.652 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.652 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] [INFO] [1615938938.652968267] [amcl]: Subscribed to map topic.
[rviz2-2] 2021-03-16 16:55:38.653 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[rviz2-2] 2021-03-16 16:55:38.656 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.657 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] [INFO] [1615938938.661563756] [lifecycle_manager_localization]: Activating map_server
[controller_server-6] 2021-03-16 16:55:38.663 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] 2021-03-16 16:55:38.665 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.665 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-03-16 16:55:38.671 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.678 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-03-16 16:55:38.681 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:38.687 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-03-16 16:55:38.690 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:38.692 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] [INFO] [1615938938.697500841] [controller_server]: Configuring controller interface
[controller_server-6] [INFO] [1615938938.698235688] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-6] [INFO] [1615938938.698373530] [local_costmap.local_costmap]: Configuring
[controller_server-6] 2021-03-16 16:55:38.698 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-03-16 16:55:38.699 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.699 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] [INFO] [1615938938.711562575] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[lifecycle_manager-11] 2021-03-16 16:55:38.711 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.714 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[waypoint_follower-10] 2021-03-16 16:55:38.716 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-5] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[controller_server-6] [INFO] [1615938938.717127257] [local_costmap.local_costmap]: Subscribed to Topics: scan
[planner_server-7] 2021-03-16 16:55:38.717 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-5] 2021-03-16 16:55:38.717 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.719 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.719 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[waypoint_follower-10] 2021-03-16 16:55:38.719 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[waypoint_follower-10] 2021-03-16 16:55:38.719 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-11] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.721 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.725 [SECURITY_CRYPTO Error] Unable to authenticate the message. EVP_DecryptFinal_ex function returns an error -> Function deserialize_SecureDataTag
[waypoint_follower-10] 2021-03-16 16:55:38.725 [SECURITY_CRYPTO Error] Unable to authenticate the message. EVP_DecryptFinal_ex function returns an error -> Function deserialize_SecureDataTag
[planner_server-7] 2021-03-16 16:55:38.728 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.728 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.729 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.729 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-5] 2021-03-16 16:55:38.728 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.735 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[robot_state_publisher-1] 2021-03-16 16:55:38.735 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] [INFO] [1615938938.737344503] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-6] [INFO] [1615938938.739161337] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[planner_server-7] 2021-03-16 16:55:38.742 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.742 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.742 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-5] 2021-03-16 16:55:38.743 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-5] 2021-03-16 16:55:38.743 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[bt_navigator-9] 2021-03-16 16:55:38.744 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] 2021-03-16 16:55:38.745 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] 2021-03-16 16:55:38.745 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.747 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.747 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-03-16 16:55:38.750 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.750 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.750 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.750 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[planner_server-7] 2021-03-16 16:55:38.751 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[controller_server-6] [INFO] [1615938938.754650340] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-6] [INFO] [1615938938.755696662] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[robot_state_publisher-1] 2021-03-16 16:55:38.755 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] [INFO] [1615938938.760200999] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-6] [INFO] [1615938938.760972137] [controller_server]: Setting transform_tolerance to 0.200000
[robot_state_publisher-1] 2021-03-16 16:55:38.764 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.765 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:38.766 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] 2021-03-16 16:55:38.778 [SECURITY_CRYPTO Error] Not valid SecureDataTag submessage id -> Function decode_datawriter_submessage
[robot_state_publisher-1] 2021-03-16 16:55:38.778 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:38.778 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] [INFO] [1615938938.792163148] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-6] [INFO] [1615938938.794286402] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1615938938.794822402] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-6] [INFO] [1615938938.795876521] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1615938938.796147868] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-6] [INFO] [1615938938.796276749] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1615938938.796334220] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-6] [INFO] [1615938938.798139890] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1615938938.798615339] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[planner_server-7] 2021-03-16 16:55:38.799 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[amcl-4] 2021-03-16 16:55:38.799 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] [INFO] [1615938938.800378663] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1615938938.801004153] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-6] [INFO] [1615938938.801927485] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1615938938.802549274] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-6] [INFO] [1615938938.803516323] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1615938938.803629426] [controller_server]: Controller Server has FollowPath  controllers available.
[rviz2-2] 2021-03-16 16:55:38.806 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:38.811 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[ERROR] [recoveries_server-8]: process has died [pid 1629, exit code -11, cmd '/opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmpobpwt5ue -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [map_server-3]: process has died [pid 1619, exit code -6, cmd '/opt/ros/foxy/lib/nav2_map_server/map_server --ros-args -r __node:=map_server --params-file /tmp/tmphc1gwefy -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [lifecycle_manager-11]: process has died [pid 1635, exit code -11, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_en7oza9_ --params-file /tmp/launch_params_h_ot2g4h --params-file /tmp/launch_params_2syy83_0'].
[ERROR] [bt_navigator-9]: process has died [pid 1631, exit code -11, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmp_1w9vox8 -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [amcl-4]: process has died [pid 1621, exit code -11, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmp9wlhvr3u -r /tf:=tf -r /tf_static:=tf_static'].
[rviz2-2] [INFO] [1615938939.265007078] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1615938939.265225141] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1615938939.415699884] [rviz2]: Stereo is NOT SUPPORTED
[robot_state_publisher-1] 2021-03-16 16:55:39.448 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:39.458 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:39.458 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:39.458 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[controller_server-6] 2021-03-16 16:55:39.467 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[robot_state_publisher-1] 2021-03-16 16:55:39.495 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:39.495 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[planner_server-7] 2021-03-16 16:55:39.499 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:39.499 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:39.500 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:39.500 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[planner_server-7] 2021-03-16 16:55:39.500 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-03-16 16:55:39.502 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-03-16 16:55:39.503 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:39.503 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:39.503 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:39.505 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:39.510 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-03-16 16:55:39.510 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:39.511 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:39.514 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:39.518 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:39.519 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-03-16 16:55:39.523 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[waypoint_follower-10] 2021-03-16 16:55:39.535 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] [WARN] [1615938939.610710332] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-2] [WARN] [1615938939.634312144] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-2] [WARN] [1615938939.662063819] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[ERROR] [planner_server-7]: process has died [pid 1627, exit code -11, cmd '/opt/ros/foxy/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmp8qk5tipf -r /tf:=tf -r /tf_static:=tf_static'].
[rviz2-2] [INFO] [1615938939.698829392] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[ERROR] [controller_server-6]: process has died [pid 1625, exit code -11, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmp8n3w9kq6 -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [waypoint_follower-10]: process has died [pid 1633, exit code -11, cmd '/opt/ros/foxy/lib/nav2_waypoint_follower/waypoint_follower --ros-args -r __node:=waypoint_follower --params-file /tmp/tmp4lr6d23h -r /tf:=tf -r /tf_static:=tf_static'].
[rviz2-2] [INFO] [1615938940.699127998] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-2] [INFO] [1615938941.699518268] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-2] [INFO] [1615938942.699835648] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...

# ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False
[INFO] [launch]: All log files can be found below /root/.ros/log/2021-04-02-12-55-57-134631-cog-rw07-474057
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [474081]
[INFO] [rviz2-2]: process started with pid [474083]
[INFO] [map_server-3]: process started with pid [474085]
[INFO] [amcl-4]: process started with pid [474087]
[INFO] [lifecycle_manager-5]: process started with pid [474089]
[INFO] [controller_server-6]: process started with pid [474091]
[INFO] [planner_server-7]: process started with pid [474093]
[INFO] [recoveries_server-8]: process started with pid [474095]
[INFO] [bt_navigator-9]: process started with pid [474097]
[INFO] [waypoint_follower-10]: process started with pid [474099]
[INFO] [lifecycle_manager-11]: process started with pid [474101]
[robot_state_publisher-1] [INFO] [1617393357.473295831] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[lifecycle_manager-5] [INFO] [1617393357.481931279] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[recoveries_server-8] [INFO] [1617393357.483276594] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[amcl-4] [INFO] [1617393357.484429686] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[controller_server-6] [INFO] [1617393357.484437332] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[planner_server-7] [INFO] [1617393357.485561766] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[lifecycle_manager-11] [INFO] [1617393357.487737800] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[waypoint_follower-10] [INFO] [1617393357.489662663] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[bt_navigator-9] [INFO] [1617393357.489839719] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[robot_state_publisher-1] [WARN] [1617393357.492106316] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-1] Parsing robot urdf xml string.
[map_server-3] [INFO] [1617393357.494394727] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 2 children
[robot_state_publisher-1] Link camera_depth_frame had 1 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] [INFO] [1617393357.494768206] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1617393357.494802655] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1617393357.494822367] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1617393357.494833178] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1617393357.494872975] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1617393357.494887616] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1617393357.494896172] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1617393357.494904090] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1617393357.494911877] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1617393357.494919611] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1617393357.494943053] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1617393357.494955324] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1617393357.494963368] [robot_state_publisher]: got segment wheel_right_link
[lifecycle_manager-5] [INFO] [1617393357.502759770] [lifecycle_manager_localization]: Creating
[lifecycle_manager-5] [INFO] [1617393357.508226199] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[lifecycle_manager-5] [INFO] [1617393357.510061859] [lifecycle_manager_localization]: Starting managed nodes bringup...
[lifecycle_manager-5] [INFO] [1617393357.510092812] [lifecycle_manager_localization]: Configuring map_server
[controller_server-6] [INFO] [1617393357.515278591] [controller_server]: 
[controller_server-6]   controller_server lifecycle node launched. 
[controller_server-6]   Waiting on external lifecycle transitions to activate
[controller_server-6]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-11] [INFO] [1617393357.515774825] [lifecycle_manager_navigation]: Creating
[planner_server-7] [INFO] [1617393357.517220947] [planner_server]: 
[planner_server-7]      planner_server lifecycle node launched. 
[planner_server-7]      Waiting on external lifecycle transitions to activate
[planner_server-7]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[recoveries_server-8] [INFO] [1617393357.520045767] [recoveries_server]: 
[recoveries_server-8]   recoveries_server lifecycle node launched. 
[recoveries_server-8]   Waiting on external lifecycle transitions to activate
[recoveries_server-8]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-7] [INFO] [1617393357.521043990] [planner_server]: Creating
[lifecycle_manager-11] [INFO] [1617393357.522221393] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[controller_server-6] [INFO] [1617393357.523844908] [controller_server]: Creating controller server
[amcl-4] [INFO] [1617393357.524042982] [amcl]: 
[amcl-4]        amcl lifecycle node launched. 
[amcl-4]        Waiting on external lifecycle transitions to activate
[amcl-4]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-4] [INFO] [1617393357.524184204] [amcl]: Creating
[waypoint_follower-10] [INFO] [1617393357.524887548] [waypoint_follower]: 
[waypoint_follower-10]  waypoint_follower lifecycle node launched. 
[waypoint_follower-10]  Waiting on external lifecycle transitions to activate
[waypoint_follower-10]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-10] [INFO] [1617393357.525011057] [waypoint_follower]: Creating
[bt_navigator-9] [INFO] [1617393357.526235613] [bt_navigator]: 
[bt_navigator-9]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-9] [INFO] [1617393357.526359705] [bt_navigator]: Creating
[lifecycle_manager-11] [INFO] [1617393357.526405585] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-11] [INFO] [1617393357.526466415] [lifecycle_manager_navigation]: Configuring controller_server
[map_server-3] [INFO] [1617393357.528962090] [map_server]: 
[map_server-3]  map_server lifecycle node launched. 
[map_server-3]  Waiting on external lifecycle transitions to activate
[map_server-3]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-3] [INFO] [1617393357.529118057] [map_server]: Creating
[planner_server-7] [INFO] [1617393357.531243538] [global_costmap.global_costmap]: 
[planner_server-7]      global_costmap lifecycle node launched. 
[planner_server-7]      Waiting on external lifecycle transitions to activate
[planner_server-7]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-7] [INFO] [1617393357.532210034] [global_costmap.global_costmap]: Creating Costmap
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[controller_server-6] [INFO] [1617393357.545855519] [local_costmap.local_costmap]: 
[controller_server-6]   local_costmap lifecycle node launched. 
[controller_server-6]   Waiting on external lifecycle transitions to activate
[controller_server-6]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-6] [INFO] [1617393357.546841319] [local_costmap.local_costmap]: Creating Costmap
[rviz2-2] [INFO] [1617393357.550354496] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves
[controller_server-6] 2021-04-02 12:55:57.587 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-04-02 12:55:57.597 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-04-02 12:55:57.603 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-04-02 12:55:57.609 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[recoveries_server-8] 2021-04-02 12:55:57.614 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.624 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-04-02 12:55:57.626 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[recoveries_server-8] 2021-04-02 12:55:57.633 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-04-02 12:55:57.646 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.649 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-04-02 12:55:57.649 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-04-02 12:55:57.650 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-04-02 12:55:57.652 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-04-02 12:55:57.652 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-04-02 12:55:57.652 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-04-02 12:55:57.652 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] [INFO] [1617393357.656740316] [map_server]: Configuring
[map_server-3] [INFO] [map_io]: Loading yaml file: /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.yaml
[bt_navigator-9] 2021-04-02 12:55:57.657 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] [DEBUG] [map_io]: resolution: 0.05
[map_server-3] [DEBUG] [map_io]: origin[0]: -10
[map_server-3] [DEBUG] [map_io]: origin[1]: -10
[map_server-3] [DEBUG] [map_io]: origin[2]: 0
[map_server-3] [DEBUG] [map_io]: free_thresh: 0.196
[map_server-3] [DEBUG] [map_io]: negate: 0
[map_server-3] [INFO] [map_io]: Loading image_file: /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.pgm
[bt_navigator-9] 2021-04-02 12:55:57.660 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.660 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] 2021-04-02 12:55:57.684 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] [DEBUG] [map_io]: Read map /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.pgm: 384 X 384 map @ 0.05 m/cell
[lifecycle_manager-5] 2021-04-02 12:55:57.686 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-04-02 12:55:57.687 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-04-02 12:55:57.687 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[rviz2-2] 2021-04-02 12:55:57.688 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.688 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.690 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.690 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-04-02 12:55:57.692 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] [INFO] [1617393357.694578246] [lifecycle_manager_localization]: Configuring amcl
[lifecycle_manager-5] 2021-04-02 12:55:57.696 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.699 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] 2021-04-02 12:55:57.702 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-04-02 12:55:57.702 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[waypoint_follower-10] 2021-04-02 12:55:57.706 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.707 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-04-02 12:55:57.709 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-5] 2021-04-02 12:55:57.713 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] 2021-04-02 12:55:57.720 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-04-02 12:55:57.720 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-04-02 12:55:57.729 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] 2021-04-02 12:55:57.729 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-04-02 12:55:57.759 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[bt_navigator-9] 2021-04-02 12:55:57.769 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[lifecycle_manager-11] 2021-04-02 12:55:57.827 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] [INFO] [1617393357.858473271] [controller_server]: Configuring controller interface
[lifecycle_manager-11] 2021-04-02 12:55:57.858 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-5] 2021-04-02 12:55:57.858 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-11] 2021-04-02 12:55:57.859 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[controller_server-6] [INFO] [1617393357.859234160] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-6] [INFO] [1617393357.859332576] [local_costmap.local_costmap]: Configuring
[bt_navigator-9] 2021-04-02 12:55:57.859 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[map_server-3] 2021-04-02 12:55:57.859 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message
[waypoint_follower-10] 2021-04-02 12:55:57.859 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[lifecycle_manager-5] 2021-04-02 12:55:57.859 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload
[ERROR] [amcl-4]: process has died [pid 474087, exit code -11, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmplxf4um_l -r /tf:=tf -r /tf_static:=tf_static'].
[controller_server-6] [INFO] [1617393357.874686826] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-6] [INFO] [1617393357.878744731] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-6] [INFO] [1617393357.884622952] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-6] [INFO] [1617393357.884659866] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-6] [INFO] [1617393357.884991651] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-6] [INFO] [1617393357.890937366] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-6] [INFO] [1617393357.891399495] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[ERROR] [recoveries_server-8]: process has died [pid 474095, exit code -11, cmd '/opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmpfumk5m3y -r /tf:=tf -r /tf_static:=tf_static'].
[controller_server-6] [INFO] [1617393357.895432643] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-6] [INFO] [1617393357.897018245] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-6] [INFO] [1617393357.917708593] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-6] [INFO] [1617393357.918983479] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1617393357.919294570] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-6] [INFO] [1617393357.920807743] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1617393357.921146602] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-6] [INFO] [1617393357.921801138] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1617393357.922317490] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[ERROR] [rviz2-2]: process has died [pid 474083, exit code -11, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/ros/foxy/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2'].
[controller_server-6] [INFO] [1617393357.923509607] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1617393357.923806303] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-6] [INFO] [1617393357.924269840] [controller_server]: Critic plugin initialized
[INFO] [lifecycle_manager-11]: sending signal 'SIGINT' to process[lifecycle_manager-11]
[INFO] [waypoint_follower-10]: sending signal 'SIGINT' to process[waypoint_follower-10]
[INFO] [bt_navigator-9]: sending signal 'SIGINT' to process[bt_navigator-9]
[INFO] [planner_server-7]: sending signal 'SIGINT' to process[planner_server-7]
[INFO] [controller_server-6]: sending signal 'SIGINT' to process[controller_server-6]
[INFO] [lifecycle_manager-5]: sending signal 'SIGINT' to process[lifecycle_manager-5]
[INFO] [map_server-3]: sending signal 'SIGINT' to process[map_server-3]
[INFO] [robot_state_publisher-1]: sending signal 'SIGINT' to process[robot_state_publisher-1]
[controller_server-6] [INFO] [1617393357.924475165] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-6] [INFO] [1617393357.924787760] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1617393357.924989649] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-6] [INFO] [1617393357.925329864] [controller_server]: Critic plugin initialized
[controller_server-6] [INFO] [1617393357.925438149] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-11] [INFO] [1617393357.929866161] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-11] [ERROR] [1617393357.930105828] [lifecycle_manager_navigation]: Failed to change state for node: controller_server
[lifecycle_manager-11] [ERROR] [1617393357.930115459] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-11] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[lifecycle_manager-11]   what():  Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/guard_condition.c:67
[bt_navigator-9] [INFO] [1617393357.932581845] [rclcpp]: signal_handler(signal_value=2)
[bt_navigator-9] [INFO] [1617393357.933417636] [bt_navigator]: Destroying
[planner_server-7] [INFO] [1617393357.934119974] [rclcpp]: signal_handler(signal_value=2)
[planner_server-7] 2021-04-02 12:55:57.934 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] 2021-04-02 12:55:57.934 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[controller_server-6] [INFO] [1617393357.935632801] [rclcpp]: signal_handler(signal_value=2)
[controller_server-6] 2021-04-02 12:55:57.936 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[map_server-3] Magick: abort due to signal 11 (SIGSEGV) "Segmentation Fault"...
[robot_state_publisher-1] 2021-04-02 12:55:57.936 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[planner_server-7] [INFO] [1617393357.936712900] [planner_server]: Destroying
[planner_server-7] [INFO] [1617393357.936745002] [global_costmap.global_costmap]: Destroying
[lifecycle_manager-5] [INFO] [1617393357.937186639] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-5] [ERROR] [1617393357.937417090] [lifecycle_manager_localization]: Failed to change state for node: amcl
[lifecycle_manager-5] [ERROR] [1617393357.937424785] [lifecycle_manager_localization]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[lifecycle_manager-5]   what():  Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/guard_condition.c:67
[controller_server-6] 2021-04-02 12:55:57.938 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message
[robot_state_publisher-1] [INFO] [1617393357.940560996] [rclcpp]: signal_handler(signal_value=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 474081]
[INFO] [planner_server-7]: process has finished cleanly [pid 474093]
[ERROR] [waypoint_follower-10]: process has died [pid 474099, exit code -11, cmd '/opt/ros/foxy/lib/nav2_waypoint_follower/waypoint_follower --ros-args -r __node:=waypoint_follower --params-file /tmp/tmpagxc_qyj -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [controller_server-6]: process has died [pid 474091, exit code -11, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmp7vnl3gx_ -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [lifecycle_manager-5]: process has died [pid 474089, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_localization --params-file /tmp/launch_params_8i21_3eh --params-file /tmp/launch_params_5xh675y0 --params-file /tmp/launch_params_g2bxmdlk'].
[ERROR] [bt_navigator-9]: process has died [pid 474097, exit code -11, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmprb2_g02u -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [map_server-3]: process has died [pid 474085, exit code -6, cmd '/opt/ros/foxy/lib/nav2_map_server/map_server --ros-args -r __node:=map_server --params-file /tmp/tmpxp3zl_c9 -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [lifecycle_manager-11]: process has died [pid 474101, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_b44wk62k --params-file /tmp/launch_params_lhmhkmz9 --params-file /tmp/launch_params_xyykl6zb'].

Additional information

Given the size of the enclave permission.p7s file (2.8K for the root enclave) is not the issue here, and the same demo works when using rmw_connextdds, I suspect the issue lies here or with FastRTPS itself.

Contexts:
@ruffsl ruffsl changed the title Terminate called after throwing an instance of 'NotEnoughMemoryException' with Nav2 Terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' with Nav2 Apr 2, 2021
@ruffsl
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ruffsl commented Apr 2, 2021

cc @MiguelCompany and @JaimeMartin . It'd be great to have the security demo working again for Foxy.

@IkerLuengo
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The issue is caused by a known problem on FastDDS v2.0.2, which is the version tag linked to the ROS2 foxy binaries. It was solved on PR #1644 and already merged to FastDDS branch 2.0.x. This branch also contains fixes for other security-related issues that were found since v2.0.2 was released.

I run the test with the latest commit of 2.0.x (which is the version linked to ROS2 foxy sources) and the demo runs correctly. The correction is also included in the latest of 2.1.x (and v2.1.1). There is a pull request to ros2:foxy-release to upgrade FastDDS to v2.1.1 in foxy, which would make the demo work again.

@mikaelarguedas mikaelarguedas mentioned this issue Apr 12, 2021
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@SidFaber SidFaber mentioned this issue Apr 13, 2021
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@SteveMacenski SteveMacenski mentioned this issue Aug 11, 2021
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@clalancette
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Given that we have updated Foxy to Fast-RTPS 2.1 quite a while ago, I'm going to close this out. Feel free to reopen if you are still having problems.

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