ros2
BUG [gazebo.rclcpp]: Error in destruction of rcl subscription handle: failed to remove subscriber
Bug report
Required Info:
- Operating System: Windows 10 + ROS2
- Installation type: binary
Steps to reproduce issue
use command window "x64 Native Tools Command Prompt for VS 2019" ref. https://ms-iot.github.io/ROSOnWindows/GettingStarted/SetupRos2.html ref. https://ms-iot.github.io/ROSOnWindows/GettingStarted/UsingROSonWindows.html Following the following link, just the project address is D:\rosprj\nav2_ws instead of C:\nav2_ws ref. https://ms-iot.github.io/ROSOnWindows/ros2/nav2.html
Expected behavior
Actual behavior
D:\rosprj\nav2_ws>ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py [INFO] [launch]: All log files can be found below C:\Users\tansh.ros\log\2022-03-22-20-29-57-447560-LAPTOP-LHDHHCLV-15724 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [gzserver-1]: process started with pid [1836] [INFO] [gzclient -2]: process started with pid [3024] [INFO] [robot_state_publisher.EXE-3]: process started with pid [18164] [robot_state_publisher.EXE-3] [WARN] [1647952200.790917800] [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.EXE-3] Parsing robot urdf xml string. [robot_state_publisher.EXE-3] Link base_link had 7 children [robot_state_publisher.EXE-3] Link camera_link had 2 children [robot_state_publisher.EXE-3] Link camera_depth_frame had 1 children [robot_state_publisher.EXE-3] Link camera_depth_optical_frame had 0 children [robot_state_publisher.EXE-3] Link camera_rgb_frame had 1 children [robot_state_publisher.EXE-3] Link camera_rgb_optical_frame had 0 children [robot_state_publisher.EXE-3] Link caster_back_left_link had 0 children [robot_state_publisher.EXE-3] Link caster_back_right_link had 0 children [robot_state_publisher.EXE-3] Link imu_link had 0 children [robot_state_publisher.EXE-3] Link base_scan had 0 children [robot_state_publisher.EXE-3] Link wheel_left_link had 0 children [robot_state_publisher.EXE-3] Link wheel_right_link had 0 children [robot_state_publisher.EXE-3] [INFO] [1647952200.839995900] [robot_state_publisher]: got segment base_footprint [robot_state_publisher.EXE-3] [INFO] [1647952200.840049200] [robot_state_publisher]: got segment base_link [robot_state_publisher.EXE-3] [INFO] [1647952200.840060000] [robot_state_publisher]: got segment base_scan [robot_state_publisher.EXE-3] [INFO] [1647952200.840068900] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher.EXE-3] [INFO] [1647952200.840081700] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher.EXE-3] [INFO] [1647952200.840091700] [robot_state_publisher]: got segment camera_link [robot_state_publisher.EXE-3] [INFO] [1647952200.840100800] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher.EXE-3] [INFO] [1647952200.840109000] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher.EXE-3] [INFO] [1647952200.840117800] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher.EXE-3] [INFO] [1647952200.840126400] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher.EXE-3] [INFO] [1647952200.840134800] [robot_state_publisher]: got segment imu_link [robot_state_publisher.EXE-3] [INFO] [1647952200.840144400] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher.EXE-3] [INFO] [1647952200.840153500] [robot_state_publisher]: got segment wheel_right_link [gzserver-1] 2022-03-22 20:30:01.701 [PARTICIPANT Error] Type with the same name already exists:rosgraph_msgs::msg::dds_::Clock_ -> Function eprosima::fastrtps::ParticipantImpl::registerType [gzserver-1] [foonathan::memory] Allocator foonathan::memory::new_allocator (at 0000000000000000) leaked 4544 bytes. [gzserver-1] [foonathan::memory] Allocator foonathan::memory::heap_allocator (at 0000000000000000) leaked 29304 bytes. [gzserver-1] [ERROR] [1647952202.512314700] [gazebo.rclcpp]: Error in destruction of rcl subscription handle: failed to remove subscriber, at C:\a\1\s\ws\src\rmw_fastrtps\rmw_fastrtps_shared_cpp\src\subscription.cpp:53, at C:\a\1\s\ws\src\rcl\rcl\src\rcl\subscription.c:243 [gzserver-1] [ERROR] [1647952202.512351600] [gazebo.rclcpp]: Error in destruction of rcl subscription handle: failed to remove subscriber, at C:\a\1\s\ws\src\rmw_fastrtps\rmw_fastrtps_shared_cpp\src\subscription.cpp:53, at C:\a\1\s\ws\src\rcl\rcl\src\rcl\subscription.c:243 [ERROR] [gzserver-1]: process has died [pid 1836, exit code 3489660927, cmd 'gzserver D:\rosprj\nav2_ws\install\turtlebot3_gazebo\share\turtlebot3_gazebo\worlds\turtlebot3_worlds/waffle.model -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].
Additional Info
This is my first time try ROS2 on windows,
Can you please let us know which version of ROS 2 you've downloaded? Thanks.
I don't know how stale this is but looking at the first tutorial and the Nav2 tutorial they stated, this person should be using ROS 2 Foxy.
Also looking at the error message
at C:\a\1\s\ws\src\rmw_fastrtps\rmw_fastrtps_shared_cpp\src\subscription.cpp:53,
could this be a problem for rmw_fastrtps? I checked in that repository, it hasn't been reported there yet.
Well, given that it has been a year with no response, I'm going to go ahead and close this one out. If there is still a problem here, we can open a new issue and debug it there.