Failed to give three or more times "2D Goal Pose" in simulation

[Leslie-Jane]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

It was collapsed when I clicked and published two or three times "2D Goal Pose" after setting a "2D Pose Estimate"。Is it caused by planning ?

Expected behavior

Please tell me why and how to solve this issue.

Actual behavior

I cann't do anything after publish two or three times "2D Goal Pose" unless the program is closed and relaunched.

Steps to reproduce

1. Execute program “ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/fulongma vehicle_model:=private_hw_vehicle sensor_model:=private_hw_sensor_kit”
2. Click "2D Pose Estimate" and click "2D Goal Pose" for one time
3. Change "2D Goal Pose" position for more times

Versions

ROS2 humble

Possible causes

No response

Additional context

No response

[maxime-clem]

Can you share the launch.log file (found in HOME/.ros/log/{DATE-TIME-...}/) when the issue occur ?
It sounds like a known issue where some node crashes when sending a new goal and we can make sure by looking at the logs.

[Leslie-Jane]

Can you share the launch.log file (found in HOME/.ros/log/{DATE-TIME-...}/) when the issue occur ? It sounds like a known issue where some node crashes when sending a new goal and we can make sure by looking at the logs.

Thanks sir,You replied too promptly！I found error in the terminal above

[Leslie-Jane]

Can you share the launch.log file (found in HOME/.ros/log/{DATE-TIME-...}/) when the issue occur ? It sounds like a known issue where some node crashes when sending a new goal and we can make sure by looking at the logs.

Sure

launch.log

[maxime-clem]

Thank you. This looks like autowarefoundation/autoware#4138
You can see a possible solution here (build rclcpp locally to include some needed bug fixes): autowarefoundation/autoware#4138 (comment)

[Leslie-Jane]

Thank you. This looks like autowarefoundation/autoware#4138 You can see a possible solution here (build rclcpp locally to include some needed bug fixes): autowarefoundation/autoware#4138 (comment)

Thanks sir