e572. Getting the Child Components of a Container

This example retrieves all of a container's children in an array:
    // Get children
    Component[] components = container.getComponents();
    
    for (int i=0; i<components.length; i++) {
        // Get the component's bounds
        Rectangle bounds = components[i].getBounds();
    }
This example retrieves all components individually:
    // Get number of children
    int count = container.getComponentCount();
    
    for (int i=0; i<count; i++) {
        Component c = container.getComponent(i);
    }

 

Related Examples
zhangzanxing@zhangzanxing-MS-7D48:~/nav2_ws$ ros2 launch nav2_bringup tb3_simulation_launch.py [INFO] [launch]: All log files can be found below /home/zhangzanxing/.ros/log/2025-11-06-08-14-15-152389-zhangzanxing-MS-7D48-24233 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [24246] [INFO] [spawn_entity.py-2]: process started with pid [24248] [INFO] [robot_state_publisher-3]: process started with pid [24250] [INFO] [rviz2-4]: process started with pid [24252] [INFO] [component_container_isolated-5]: process started with pid [24254] [robot_state_publisher-3] [INFO] [1762388055.619409354] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-3] [INFO] [1762388055.619480216] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1762388055.619485204] [robot_state_publisher]: got segment base_scan [robot_state_publisher-3] [INFO] [1762388055.619487857] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-3] [INFO] [1762388055.619490420] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-3] [INFO] [1762388055.619493031] [robot_state_publisher]: got segment camera_link [robot_state_publisher-3] [INFO] [1762388055.619495479] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-3] [INFO] [1762388055.619497823] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-3] [INFO] [1762388055.619500281] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-3] [INFO] [1762388055.619502633] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-3] [INFO] [1762388055.619504943] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1762388055.619507470] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-3] [INFO] [1762388055.619509853] [robot_state_publisher]: got segment wheel_right_link [component_container_isolated-5] [INFO] [1762388055.670631996] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_map_server/lib/libmap_server_core.so [component_container_isolated-5] [INFO] [1762388055.681877876] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> [component_container_isolated-5] [INFO] [1762388055.681911133] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> [component_container_isolated-5] [INFO] [1762388055.681914796] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [component_container_isolated-5] [INFO] [1762388055.681917597] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [component_container_isolated-5] [INFO] [1762388055.685173805] [map_server]: [component_container_isolated-5] map_server lifecycle node launched. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container' [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.685202843] [map_server]: Creating [component_container_isolated-5] [INFO] [1762388055.686685795] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_amcl/lib/libamcl_core.so [component_container_isolated-5] [INFO] [1762388055.689084943] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode> [component_container_isolated-5] [INFO] [1762388055.689098910] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode> [component_container_isolated-5] [INFO] [1762388055.691551894] [amcl]: [component_container_isolated-5] amcl lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.692182498] [amcl]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container' [component_container_isolated-5] [INFO] [1762388055.693523321] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_lifecycle_manager/lib/libnav2_lifecycle_manager_core.so [component_container_isolated-5] [INFO] [1762388055.694125169] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-5] [INFO] [1762388055.694137698] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-5] [INFO] [1762388055.696911222] [lifecycle_manager_localization]: Creating [component_container_isolated-5] [INFO] [1762388055.698086197] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container' [component_container_isolated-5] [INFO] [1762388055.699126047] [lifecycle_manager_localization]: Starting managed nodes bringup... [component_container_isolated-5] [INFO] [1762388055.699147907] [lifecycle_manager_localization]: Configuring map_server [component_container_isolated-5] [INFO] [1762388055.699230873] [map_server]: Configuring [component_container_isolated-5] [INFO] [1762388055.699268120] [map_io]: Loading yaml file: /home/zhangzanxing/nav2_ws/install/nav2_bringup/share/nav2_bringup/maps/turtlebot3_world.yaml [component_container_isolated-5] [INFO] [1762388055.699554166] [map_io]: resolution: 0.05 [component_container_isolated-5] [INFO] [1762388055.699600894] [map_io]: origin[0]: -10 [component_container_isolated-5] [INFO] [1762388055.699603563] [map_io]: origin[1]: -10 [component_container_isolated-5] [INFO] [1762388055.699605937] [map_io]: origin[2]: 0 [component_container_isolated-5] [INFO] [1762388055.699608343] [map_io]: free_thresh: 0.196 [component_container_isolated-5] [INFO] [1762388055.699610703] [map_io]: occupied_thresh: 0.65 [component_container_isolated-5] [INFO] [1762388055.699614484] [map_io]: mode: trinary [component_container_isolated-5] [INFO] [1762388055.699617286] [map_io]: negate: 0 [component_container_isolated-5] [INFO] [1762388055.702023711] [map_io]: Loading image_file: /home/zhangzanxing/nav2_ws/install/nav2_bringup/share/nav2_bringup/maps/turtlebot3_world.pgm [component_container_isolated-5] [INFO] [1762388055.713332211] [map_io]: Read map /home/zhangzanxing/nav2_ws/install/nav2_bringup/share/nav2_bringup/maps/turtlebot3_world.pgm: 384 X 384 map @ 0.05 m/cell [component_container_isolated-5] [INFO] [1762388055.715195443] [lifecycle_manager_localization]: Configuring amcl [component_container_isolated-5] [INFO] [1762388055.715253259] [amcl]: Configuring [component_container_isolated-5] [INFO] [1762388055.715310856] [amcl]: initTransforms [component_container_isolated-5] [INFO] [1762388055.718747741] [amcl]: initPubSub [component_container_isolated-5] [INFO] [1762388055.719762719] [amcl]: Subscribed to map topic. [component_container_isolated-5] [INFO] [1762388055.720610952] [lifecycle_manager_localization]: Activating map_server [component_container_isolated-5] [INFO] [1762388055.720659228] [map_server]: Activating [component_container_isolated-5] [INFO] [1762388055.720806004] [map_server]: Creating bond (map_server) to lifecycle manager. [component_container_isolated-5] [INFO] [1762388055.720919343] [amcl]: Received a 384 X 384 map @ 0.050 m/pix [component_container_isolated-5] [INFO] [1762388055.816220737] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_controller/lib/libcontroller_server_core.so [component_container_isolated-5] [INFO] [1762388055.818495535] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> [component_container_isolated-5] [INFO] [1762388055.818510005] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> [component_container_isolated-5] [INFO] [1762388055.821675443] [controller_server]: [component_container_isolated-5] controller_server lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.822225760] [lifecycle_manager_localization]: Server map_server connected with bond. [component_container_isolated-5] [INFO] [1762388055.822247993] [lifecycle_manager_localization]: Activating amcl [component_container_isolated-5] [INFO] [1762388055.822313788] [amcl]: Activating [component_container_isolated-5] [INFO] [1762388055.822337846] [amcl]: Creating bond (amcl) to lifecycle manager. [component_container_isolated-5] [INFO] [1762388055.826995120] [controller_server]: Creating controller server [component_container_isolated-5] [INFO] [1762388055.830586113] [local_costmap.local_costmap]: [component_container_isolated-5] local_costmap lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.831356823] [local_costmap.local_costmap]: Creating Costmap [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container' [component_container_isolated-5] [INFO] [1762388055.832773174] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so [component_container_isolated-5] [INFO] [1762388055.834065290] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> [component_container_isolated-5] [INFO] [1762388055.834077701] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> [component_container_isolated-5] [INFO] [1762388055.837104695] [smoother_server]: [component_container_isolated-5] smoother_server lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.838425379] [smoother_server]: Creating smoother server [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container' [component_container_isolated-5] [INFO] [1762388055.839516964] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_planner/lib/libplanner_server_core.so [component_container_isolated-5] [INFO] [1762388055.840173411] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> [component_container_isolated-5] [INFO] [1762388055.840185420] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> [component_container_isolated-5] [INFO] [1762388055.843689380] [planner_server]: [component_container_isolated-5] planner_server lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.845016081] [planner_server]: Creating [component_container_isolated-5] [INFO] [1762388055.848850326] [global_costmap.global_costmap]: [component_container_isolated-5] global_costmap lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.849224402] [global_costmap.global_costmap]: Creating Costmap [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planner_server' in container '/nav2_container' [component_container_isolated-5] [INFO] [1762388055.850872186] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_behaviors/lib/libbehavior_server_core.so [component_container_isolated-5] [INFO] [1762388055.852978326] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> [component_container_isolated-5] [INFO] [1762388055.852991831] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> [component_container_isolated-5] [INFO] [1762388055.856826210] [behavior_server]: [component_container_isolated-5] behavior_server lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container' [component_container_isolated-5] [INFO] [1762388055.859632892] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_bt_navigator/lib/libbt_navigator_core.so [component_container_isolated-5] [INFO] [1762388055.861078923] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> [component_container_isolated-5] [INFO] [1762388055.861089483] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> [component_container_isolated-5] [INFO] [1762388055.865432649] [bt_navigator]: [component_container_isolated-5] bt_navigator lifecycle node launched. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container' [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.865460177] [bt_navigator]: Creating [component_container_isolated-5] [INFO] [1762388055.866554403] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_waypoint_follower/lib/libwaypoint_follower_core.so [component_container_isolated-5] [INFO] [1762388055.867049096] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> [component_container_isolated-5] [INFO] [1762388055.867058495] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> [component_container_isolated-5] [INFO] [1762388055.870910127] [waypoint_follower]: [component_container_isolated-5] waypoint_follower lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.871523217] [waypoint_follower]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container' [component_container_isolated-5] [INFO] [1762388055.872662288] [nav2_container]: Load Library: /home/zhangzanxing/nav2_ws/install/nav2_velocity_smoother/lib/libvelocity_smoother_core.so [component_container_isolated-5] [INFO] [1762388055.873268634] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> [component_container_isolated-5] [INFO] [1762388055.873277347] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> [component_container_isolated-5] [INFO] [1762388055.887998211] [velocity_smoother]: [component_container_isolated-5] velocity_smoother lifecycle node launched. [component_container_isolated-5] Waiting on external lifecycle transitions to activate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container' [component_container_isolated-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-5] [INFO] [1762388055.889632084] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-5] [INFO] [1762388055.889654974] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-5] [INFO] [1762388055.905017090] [lifecycle_manager_navigation]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container' [component_container_isolated-5] [INFO] [1762388055.905968512] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [component_container_isolated-5] [INFO] [1762388055.910218476] [lifecycle_manager_navigation]: Starting managed nodes bringup... [component_container_isolated-5] [INFO] [1762388055.910241165] [lifecycle_manager_navigation]: Configuring controller_server [component_container_isolated-5] [INFO] [1762388055.910309888] [controller_server]: Configuring controller interface [component_container_isolated-5] [INFO] [1762388055.910446718] [controller_server]: getting goal checker plugins.. [component_container_isolated-5] [INFO] [1762388055.910533986] [controller_server]: Controller frequency set to 20.0000Hz [component_container_isolated-5] [INFO] [1762388055.910557317] [local_costmap.local_costmap]: Configuring [spawn_entity.py-2] [INFO] [1762388055.911811335] [spawn_entity]: Spawn Entity started [spawn_entity.py-2] [INFO] [1762388055.912017396] [spawn_entity]: Loading entity XML from file /home/zhangzanxing/nav2_ws/install/nav2_bringup/share/nav2_bringup/worlds/waffle.model [component_container_isolated-5] [INFO] [1762388055.912362417] [local_costmap.local_costmap]: Using plugin "voxel_layer" [spawn_entity.py-2] [INFO] [1762388055.913019058] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-2] [INFO] [1762388055.913187835] [spawn_entity]: Waiting for service /spawn_entity [component_container_isolated-5] [INFO] [1762388055.914932262] [local_costmap.local_costmap]: Subscribed to Topics: scan [component_container_isolated-5] [INFO] [1762388055.917471596] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [component_container_isolated-5] [INFO] [1762388055.917487908] [local_costmap.local_costmap]: Using plugin "inflation_layer" [component_container_isolated-5] [INFO] [1762388055.917916642] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [component_container_isolated-5] [INFO] [1762388055.921084317] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [component_container_isolated-5] [INFO] [1762388055.921521496] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [component_container_isolated-5] [INFO] [1762388055.921688397] [controller_server]: Controller Server has general_goal_checker goal checkers available. [component_container_isolated-5] [INFO] [1762388055.923320462] [lifecycle_manager_localization]: Server amcl connected with bond. [component_container_isolated-5] [INFO] [1762388055.923356088] [lifecycle_manager_localization]: Managed nodes are active [component_container_isolated-5] [INFO] [1762388055.923365075] [lifecycle_manager_localization]: Creating bond timer... [component_container_isolated-5] [INFO] [1762388055.923415239] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [component_container_isolated-5] [INFO] [1762388055.923909812] [controller_server]: Setting transform_tolerance to 0.200000 [component_container_isolated-5] [INFO] [1762388055.928467644] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [component_container_isolated-5] [INFO] [1762388055.928741447] [controller_server]: Critic plugin initialized [component_container_isolated-5] [INFO] [1762388055.928809927] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [component_container_isolated-5] [INFO] [1762388055.929048342] [controller_server]: Critic plugin initialized [component_container_isolated-5] [INFO] [1762388055.929107692] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [component_container_isolated-5] [INFO] [1762388055.929202819] [controller_server]: Critic plugin initialized [component_container_isolated-5] [INFO] [1762388055.929258658] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [component_container_isolated-5] [INFO] [1762388055.929440005] [controller_server]: Critic plugin initialized [component_container_isolated-5] [INFO] [1762388055.929500095] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [component_container_isolated-5] [INFO] [1762388055.929665660] [controller_server]: Critic plugin initialized [component_container_isolated-5] [INFO] [1762388055.929725752] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [component_container_isolated-5] [INFO] [1762388055.929830904] [controller_server]: Critic plugin initialized [component_container_isolated-5] [INFO] [1762388055.929885706] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [component_container_isolated-5] [INFO] [1762388055.929998448] [controller_server]: Critic plugin initialized [component_container_isolated-5] [INFO] [1762388055.930011420] [controller_server]: Controller Server has FollowPath controllers available. [component_container_isolated-5] [INFO] [1762388055.932718137] [lifecycle_manager_navigation]: Configuring smoother_server [component_container_isolated-5] [INFO] [1762388055.932778753] [smoother_server]: Configuring smoother server [component_container_isolated-5] [INFO] [1762388055.935281525] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [component_container_isolated-5] [INFO] [1762388055.935645559] [smoother_server]: Smoother Server has simple_smoother smoothers available. [component_container_isolated-5] [INFO] [1762388055.937448630] [lifecycle_manager_navigation]: Configuring planner_server [component_container_isolated-5] [INFO] [1762388055.937522457] [planner_server]: Configuring [component_container_isolated-5] [INFO] [1762388055.937548442] [global_costmap.global_costmap]: Configuring [component_container_isolated-5] [INFO] [1762388055.939269583] [global_costmap.global_costmap]: Using plugin "static_layer" [component_container_isolated-5] [INFO] [1762388055.939800100] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [component_container_isolated-5] [INFO] [1762388055.940018671] [global_costmap.global_costmap]: Initialized plugin "static_layer" [component_container_isolated-5] [INFO] [1762388055.940029670] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [component_container_isolated-5] [INFO] [1762388055.940379073] [global_costmap.global_costmap]: Subscribed to Topics: scan [component_container_isolated-5] [INFO] [1762388055.941816513] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [component_container_isolated-5] [INFO] [1762388055.941829025] [global_costmap.global_costmap]: Using plugin "inflation_layer" [component_container_isolated-5] [INFO] [1762388055.942251885] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [component_container_isolated-5] [INFO] [1762388055.944814258] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [component_container_isolated-5] [INFO] [1762388055.944834711] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [component_container_isolated-5] [INFO] [1762388055.945158611] [planner_server]: Planner Server has GridBased planners available. [component_container_isolated-5] [INFO] [1762388055.948098043] [lifecycle_manager_navigation]: Configuring behavior_server [component_container_isolated-5] [INFO] [1762388055.948158940] [behavior_server]: Configuring [component_container_isolated-5] [INFO] [1762388055.950494423] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [component_container_isolated-5] [INFO] [1762388055.951289832] [behavior_server]: Configuring spin [component_container_isolated-5] [INFO] [1762388055.953446454] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [component_container_isolated-5] [INFO] [1762388055.954160352] [behavior_server]: Configuring backup [component_container_isolated-5] [INFO] [1762388055.957130948] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [component_container_isolated-5] [INFO] [1762388055.957899178] [behavior_server]: Configuring drive_on_heading [component_container_isolated-5] [INFO] [1762388055.959980927] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [component_container_isolated-5] [INFO] [1762388055.961416304] [behavior_server]: Configuring assisted_teleop [component_container_isolated-5] [INFO] [1762388055.964040054] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [component_container_isolated-5] [INFO] [1762388055.964681308] [behavior_server]: Configuring wait [component_container_isolated-5] [INFO] [1762388055.966625997] [lifecycle_manager_navigation]: Configuring bt_navigator [component_container_isolated-5] [INFO] [1762388055.966702897] [bt_navigator]: Configuring [component_container_isolated-5] [INFO] [1762388056.006978224] [lifecycle_manager_navigation]: Configuring waypoint_follower [component_container_isolated-5] [INFO] [1762388056.007057327] [waypoint_follower]: Configuring [component_container_isolated-5] [INFO] [1762388056.010114944] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 384 X 384 at 0.050000 m/pix [component_container_isolated-5] [INFO] [1762388056.010546955] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [component_container_isolated-5] [INFO] [1762388056.010900761] [lifecycle_manager_navigation]: Configuring velocity_smoother [component_container_isolated-5] [INFO] [1762388056.010970657] [velocity_smoother]: Configuring velocity smoother [component_container_isolated-5] [INFO] [1762388056.012573227] [lifecycle_manager_navigation]: Activating controller_server [component_container_isolated-5] [INFO] [1762388056.012626173] [controller_server]: Activating [component_container_isolated-5] [INFO] [1762388056.012647291] [local_costmap.local_costmap]: Activating [component_container_isolated-5] [INFO] [1762388056.012654871] [local_costmap.local_costmap]: Checking transform [component_container_isolated-5] [INFO] [1762388056.012666696] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [rviz2-4] [INFO] [1762388056.340073163] [rviz2]: Stereo is NOT SUPPORTED [rviz2-4] [INFO] [1762388056.340136970] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-4] [INFO] [1762388056.451303909] [rviz2]: Stereo is NOT SUPPORTED [component_container_isolated-5] [INFO] [1762388056.512722835] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [WARN] [1762388056.552577765] [amcl]: New subscription discovered on topic '/particle_cloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [rviz2-4] [INFO] [1762388056.632543651] [rviz2]: Trying to create a map of size 384 x 384 using 1 swatches [component_container_isolated-5] [INFO] [1762388057.012780098] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [INFO] [1762388057.512764760] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [INFO] [1762388058.012763266] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [INFO] [1762388058.512762953] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [INFO] [1762388059.012755462] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [INFO] [1762388059.512762318] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [INFO] [1762388060.012755561] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [INFO] [1762388060.512763208] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-5] [INFO] [1762388061.012828666] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
11-07
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