intel@intel-desktop:~$ ros2 launch nav2_bringup nav2_bringup_launch.py use_sim_time:=True autostart:=True map:=/home/intel/robot_devkit/rdk_ws/Turtlebot3_ws/src/navigation2/navigation2/nav2_bringup/launch/turtlebot3_world.yaml
[INFO] [launch]: All log files can be found below /home/intel/.ros/log/2019-07-11-19-31-46-694742-intel-desktop-24244
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [lifecycle_manager-1]: process started with pid [24258]
[INFO] [map_server-2]: process started with pid [24259]
[INFO] [amcl-3]: process started with pid [24260]
[INFO] [world_model-4]: process started with pid [24261]
[INFO] [dwb_controller-5]: process started with pid [24262]
[INFO] [navfn_planner-6]: process started with pid [24263]
[INFO] [motion_primitives_node-7]: process started with pid [24264]
[INFO] [bt_navigator-8]: process started with pid [24265]
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Creating
[world_model-4] [INFO] [world_model]: Creating
[map_server-2] [INFO] [map_server]: Creating
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Starting the system bringup...
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Creating and initializing lifecycle service clients
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating map_server
[amcl-3] [INFO] [amcl]: Creating
[motion_primitives_node-7] [INFO] [motion_primitives]: Configuring Spin
[motion_primitives_node-7] [INFO] [motion_primitives]: Robot: Creating
[dwb_controller-5] [INFO] [dwb_controller]: Creating
[world_model-4] [INFO] [global_costmap.global_costmap]: Creating
[bt_navigator-8] [INFO] [bt_navigator]: Creating
[motion_primitives_node-7] [WARN] [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.
[motion_primitives_node-7] [INFO] [motion_primitives]: Configuring BackUp
[motion_primitives_node-7] [INFO] [motion_primitives]: Robot: Creating
[navfn_planner-6] [INFO] [navfn_planner]: Creating
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Creating
[map_server-2] [INFO] [map_server]: Configuring
[map_server-2] [INFO] [map_server]: OccGridLoader: Creating
[map_server-2] [INFO] [map_server]: OccGridLoader: Configuring
[map_server-2] [WARN] [map_server]: Mode parameter not set, using default value (trinary)
[map_server-2] [INFO] [map_server]: Activating
[map_server-2] [INFO] [map_server]: OccGridLoader: Activating
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating amcl
[amcl-3] [INFO] [amcl]: Configuring
[amcl-3] [INFO] [amcl]: initTransforms
[amcl-3] [INFO] [amcl]: initPubSub
[amcl-3] [INFO] [amcl]: Subscribed to map topic.
[amcl-3] [INFO] [amcl]: Activating
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating world_model
[world_model-4] [INFO] [world_model]: Configuring
[world_model-4] [INFO] [global_costmap.global_costmap]: Configuring
[world_model-4] [INFO] [global_costmap.global_costmap]: Using plugin "static_layer"
[world_model-4] [INFO] [global_costmap.global_costmap]: StaticLayer: Requesting map from the map service
[map_server-2] [INFO] [map_server]: OccGridLoader: Handling map request
[world_model-4] [INFO] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 384 X 384 at 0.050000 m/pix
[world_model-4] [INFO] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[world_model-4] [INFO] [global_costmap.global_costmap]: Subscribed to Topics: scan
[world_model-4] [INFO] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[world_model-4] [INFO] [world_model]: Activating
[world_model-4] [INFO] [global_costmap.global_costmap]: Activating
[world_model-4] [INFO] [global_costmap.global_costmap]: Checking transform
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 38.302 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.085 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.096 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.085 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.092 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.086 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.092 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.071 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.038 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.056 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 38.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 38.600 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 38.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 39.001 for reason(0)
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.047 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 39.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 39.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 39.600 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 39.800 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 40.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.046 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 40.200 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 40.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 40.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 40.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 41.001 for reason(0)
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.09 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 41.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 41.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 41.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 41.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 42.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 42.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.089 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 42.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 42.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 42.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 43.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 43.200 for reason(0)
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.079 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 43.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 43.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 43.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 44.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 44.200 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 44.400 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.074 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 44.600 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 44.800 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 45.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 45.201 for reason(0)
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 45.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.076 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 45.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 45.800 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 46.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 46.201 for reason(0)
[amcl-3] [INFO] [amcl]: initialPoseReceived
[amcl-3] [INFO] [amcl]: Setting pose (56.291000): -1.997 -0.457 0.001
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 46.400 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.087 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 46.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 46.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 47.001 for reason(0)
[amcl-3] [INFO] [amcl]: Received a 384 X 384 map @ 0.050 m/pix
[amcl-3] 
[amcl-3] [INFO] [amcl]: Setting pose (56.991000): -1.997 -0.457 0.001
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 47.200 for reason(0)
[amcl-3] [INFO] [amcl]: createLaserObject
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 47.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 47.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past.  Requested time 57.66400 but the earliest data is at time 58.20100, when looking up transform from frame [base_link] to frame [map]. canTransform returned after 1.098 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 47.800 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 48.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 48.200 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap]: start
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating dwb_controller
[dwb_controller-5] [INFO] [dwb_controller]: Configuring
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Configuring
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Subscribed to Topics: scan
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[dwb_controller-5] [INFO] [dwb_controller]: Setting transform_tolerance to 0.200000
[dwb_controller-5] [INFO] [dwb_controller]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[dwb_controller-5] [INFO] [dwb_controller]: Critic plugin initialized
[dwb_controller-5] [INFO] [dwb_controller]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[dwb_controller-5] [INFO] [dwb_controller]: Critic plugin initialized
[dwb_controller-5] [INFO] [dwb_controller]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[dwb_controller-5] [INFO] [dwb_controller]: Critic plugin initialized
[dwb_controller-5] [INFO] [dwb_controller]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[dwb_controller-5] [INFO] [dwb_controller]: Critic plugin initialized
[dwb_controller-5] [INFO] [dwb_controller]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[dwb_controller-5] [INFO] [dwb_controller]: Critic plugin initialized
[dwb_controller-5] [INFO] [dwb_controller]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[dwb_controller-5] [INFO] [dwb_controller]: Critic plugin initialized
[dwb_controller-5] [INFO] [dwb_controller]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[dwb_controller-5] [INFO] [dwb_controller]: Critic plugin initialized
[dwb_controller-5] [INFO] [dwb_controller]: Activating
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Activating
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Checking transform
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 48.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 48.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 48.800 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 49.001 for reason(0)
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: start
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating navfn_planner
[navfn_planner-6] [INFO] [navfn_planner]: Configuring
[navfn_planner-6] [INFO] [navfn_planner]: Activating
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating bt_navigator
[bt_navigator-8] [INFO] [bt_navigator]: Configuring
[bt_navigator-8] [INFO] [bt_navigator_client_node]: Waiting for "ComputePathToPose" action server
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 49.200 for reason(0)
[bt_navigator-8] [INFO] [bt_navigator_client_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-8] [INFO] [bt_navigator_client_node]: Waiting for "FollowPath" action server
[bt_navigator-8] [INFO] [bt_navigator_client_node]: "FollowPath" BtActionNode initialized
[bt_navigator-8] [INFO] [bt_navigator_client_node]: Waiting for "Spin" action server
[bt_navigator-8] [INFO] [bt_navigator_client_node]: "Spin" BtActionNode initialized
[bt_navigator-8] [INFO] [bt_navigator]: Activating
[lifecycle_manager-1] [INFO] [lifecycle_manager]: The system is active
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Starting the system bringup...
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Creating and initializing lifecycle service clients
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 49.401 for reason(0)
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating map_server
[map_server-2] [WARN] [rcl_lifecycle]: No transition matching 1 found for current state active
[map_server-2] [ERROR] []: Unable to start transition 1 from current state active: Transition is not registered., at /home/jenkins-agent/workspace/ci_packaging_linux/ws/src/ros2/rcl/rcl_lifecycle/src/rcl_lifecycle.c:321
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to change state for node: map_server
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to bring up node: map_server, aborting bringup
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 49.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 49.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 50.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 50.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 50.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 50.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 50.800 for reason(0)
[bt_navigator-8] [INFO] [bt_navigator]: Begin navigating from current location to (1.61, -0.63)
[bt_navigator-8] [INFO] [bt_navigator_client_node]: Robot: Creating
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 51.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 51.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 51.400 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 51.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 51.801 for reason(0)
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 52.000 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 52.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 52.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 52.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 52.801 for reason(0)
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 53.000 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 53.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 53.400 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 53.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 53.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 54.000 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 54.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 54.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 54.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 54.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 55.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 55.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 55.400 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 55.601 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 55.801 for reason(0)
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 56.001 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 56.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 56.400 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 56.600 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 56.800 for reason(0)
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 57.000 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 57.201 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 57.401 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 57.601 for reason(0)
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 57.801 for reason(0)
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 58.001 for reason(0)
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Reached the goal!
[bt_navigator-8] [INFO] [bt_navigator]: Navigation succeeded
[bt_navigator-8] [INFO] [bt_navigator]: Begin navigating from current location to (1.87, 0.43)
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Reached the goal!
[bt_navigator-8] [INFO] [bt_navigator]: Navigation succeeded
[bt_navigator-8] [INFO] [bt_navigator]: Begin navigating from current location to (-1.87, 0.52)
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [ERROR] [DWBLocalPlanner]: No valid trajectories out of 0! 
[dwb_controller-5] [ERROR] [dwb_controller]: No valid trajectories out of 0! 
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[world_model-4] [INFO] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[world_model-4] [INFO] [global_costmap.global_costmap]: StaticLayer: Requesting map from the map service
[map_server-2] [INFO] [map_server]: OccGridLoader: Handling map request
[motion_primitives_node-7] [INFO] [motion_primitives]: Attempting Spin
[motion_primitives_node-7] [INFO] [motion_primitives]: Currently only supported spinning by a fixed amount
[motion_primitives_node-7] [INFO] [motion_primitives]: Spin running...
[motion_primitives_node-7] [INFO] [motion_primitives]: Spin running...
[motion_primitives_node-7] [INFO] [motion_primitives]: Spin running...
[motion_primitives_node-7] [INFO] [motion_primitives]: Spin running...
[motion_primitives_node-7] [INFO] [motion_primitives]: Spin running...
[motion_primitives_node-7] [INFO] [motion_primitives]: Spin running...
[motion_primitives_node-7] [INFO] [motion_primitives]: Spin completed successfully
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Reached the goal!
[bt_navigator-8] [INFO] [bt_navigator]: Navigation succeeded
[bt_navigator-8] [INFO] [bt_navigator]: Begin navigating from current location to (-1.70, -1.10)
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[dwb_controller-5] [INFO] [dwb_controller]: Reached the goal!
[bt_navigator-8] [INFO] [bt_navigator]: Navigation succeeded
[bt_navigator-8] [INFO] [bt_navigator]: Begin navigating from current location to (2.01, -0.63)
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [ERROR] [DWBLocalPlanner]: No valid trajectories out of 398! 
[dwb_controller-5] [ERROR] [DWBLocalPlanner]: 1.00: BaseObstacle/Trajectory Hits Obstacle.
[dwb_controller-5] [ERROR] [dwb_controller]: No valid trajectories out of 398! 
[navfn_planner-6] [WARN] [navfn_planner]: Planning algorithm failed to generate a valid path to (2.01, -0.63)
[bt_navigator-8] terminate called after throwing an instance of 'rclcpp_action::exceptions::UnknownGoalHandleError'
[bt_navigator-8]   what():  Goal handle is not know to this client.
[ERROR] [bt_navigator-8]: process has died [pid 24265, exit code -6, cmd '/opt/robot_devkit/turtlebot3/nav2_bt_navigator/lib/nav2_bt_navigator/bt_navigator __node:=bt_navigator __params:=/tmp/tmp_ddw6jah'].