Node '/local_costmap/local_costmap' has already been added to an executor

[dujeong]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• ROS2 Version:
  • Humble binaries
• Version or commit hash:
  • current commit hash(error version): da5edbf
  • previous commit hash: e5394ae
• DDS implementation:
  • cyclone dds

Steps to reproduce issue

In the navigation launch file, the controller server was executed by lifecycle manager.

lifecycle_nodes = ['controller_server',
                   'smoother_server',
                   'planner_server',
                   'behavior_server',
                   'bt_navigator',
                   'waypoint_follower',
                   'velocity_smoother']

In previous commit versions, localcostmap worked without any problems, but after pulling to the latest version, the following problems occurred.

[controller_server-15] terminate called after throwing an instance of 'std::runtime_error'
[controller_server-15]   what():  Node '/local_costmap/local_costmap' has already been added to an executor.

...
[ERROR] [controller_server-15]: process has died [pid 127358, exit code -6, cmd '/home/dujeong/nav2_ws/install/nav2_controller/lib/nav2_controller/controller_server --ros-args -r __node:=controller_server -r __ns:=/ --params-file /tmp/tmp_9cg6p6n -r cmd_vel:=cmd_vel_nav -r /tf:=tf -r /tf_static:=tf_static'].

When searching for costmap-related nodes as follows when starting the system, it was confirmed that two /local_costmap/local_costmap nodes were created with the same name and then changed to one.

$ ros2 node list|grep cost
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/global_costmap/global_costmap
/local_costmap/local_costmap
/local_costmap/local_costmap
$ ros2 node list|grep cost
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/global_costmap/global_costmap
/local_costmap/local_costmap

After that, the costmap topic will not come out, and the robot will not be able to drive.

Expected behavior

Actual behavior

Additional information

---

Feature request

Feature description

Implementation considerations

[SteveMacenski]

Sorry about that, this was a particularly rough Humble sync. Can you try this branch and let me know if it works? I suspect this will fix your problem and I can re-release

#3630

I'm not sure why I didn't see this locally when I tested the changes after dealing with the merge conflicts, but thanks for pointing this out.

[dujeong]

@SteveMacenski
SteveMacenski-patch-1 branch works well!
Thank you for the quick correction~!