Hi Steve Macenski, if I want to write a callback function with return of def getResult(self), which topic should I subscribe to? Maybe navigate_to_pose/_action/status? But what makes me sad is that I can't find a poster for this topic.

System Description:

• OS: Ubuntu 20.04
• Environment: ROS2 Galactic inside a Docker environment

1. On running rosdep install --from-path src --ignore-src -r -y, the following error occurs-

executing command [sudo -H apt-get install -y ros-galactic-slam-toolbox]
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-galactic-slam-toolbox
ERROR: the following rosdeps failed to install
  apt: command [sudo -H apt-get install -y ros-galactic-slam-toolbox] failed
  apt: Failed to detect successful installation of [ros-galactic-slam-toolbox]

2. I could, still, successfully simulate Nav2 Goal, Nav Through Poses, and Waypoint Following in the amazon warehouse world as well as the security demo. The costmaps did not appear in RViz, accompanied by this warning:
   
   I suspect this may be related to missing installation of the slam toolbox.

3. The Time Taken indicator in the Nav2 RViz Panel did not update, while the other indicators worked flawlessly.

• [x] Add images / gif to readme
• [ ] Add link to presentation in readme
• [x] Add link to event in readme
• [x] Add more context / info that might be valuble
• [ ] branch out into tutorials: python3 working with nav2 (/scripts), package for custom robot sim (all else)
• [x] python navigator commander? harden, remove all ros dependencies/status codes
• [x] upload videos to youtube

• [x] Galactic environment
• [x] No ROS1 / ROS1 paths
• [x] Installed dependencies: OMPL, bond_core, test_msgs, lcov, behaviortree_cpp, gazebo_ros_pkgs
• [x] clone into git repo
• [ ] update instructions to include Construct-specific button instructions (?)
• [x] repo contain submodule for nav2 galactic
• [x] repo flatten out workspace, show pkg in root (use a script + .repos file instead?)

• [x] Who am I
• [x] Overview of talk
• [x] Overview of Nav2
• [x] Getting started - NTP rviz
• [x] Getting started - NHP python (generic driving around basics leading into python script, building to...)
• [x] wp + executors (doing what? executors or TODO app building to...)
• [x] keepout / speed (now complete application for a warehouse)
• [x] Now full basic autonomy application!
• [x] Conclusion / questions

Demo tasks

• [x] change world to aws warehouse world
• [x] costmap filter tool / pregenerated maps from alexey
• [x] launch files / param files / commands
• [ ] 35 minutes of dialog
• [ ] change robot (?)

Bug report

• operating system: Ubuntu 20.04
• ROS2 Galactic (binaries)

Steps to reproduce:

• clone repository to your ros2_ws, install aws-robomaker-small-warehouse-world ROS2 Galactic package (binary) and the rest from deps.repos (neobotix robot etc.)
• build package colcon build --symlink-install
• source install/setup.bash
• ros2 launch nav2_rosdevday_2021 system_launch.py

Part of my .bashrc file:

source ~/nav2_ws/install/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/ljaniec/ros2_ws/install/aws_robomaker_small_warehouse_world/share/aws_robomaker_small_warehouse_world/worlds:/home/ljaniec/ros2_ws/install/aws_robomaker_small_warehouse_world/share/aws_robomaker_small_warehouse_world/models:/home/ljaniec/ros2_ws/install/neo_simulation2/share/neo_simulation2/robots:/home/ljaniec/ros2_ws/install/neo_simulation2/share/neo_simulation2/models:/opt/ros/galactic/share/turtlebot3_gazebo/models:/home/ljaniec/.gazebo/models

Expected behavior

The simulation with one visible AMR MP 400 rendered and Nav2 stack for starting demo scripts.

Actual behavior

The simulation doesn't have correctly rendered robot (screens below).

Additional information

What I tried:

• reinstall Gazebo and Nav2 packages

• I have found a similar bug there

• I checked URDF like there and it didn't show problems

• this bug shows in Simple Commander too (TB3 is invisible, but not in "Collisions" view in Gazebo) - maybe it is something connected with these meshfile changes mentioned in the link above?

would it be possible to run this repo under foxy(-devel).

sofar i tried changing the deps.repos: url: https://github.com/ros-planning/navigation2.git version: foxy

thing seam to be running so far BUT i am getting an error (wish seam to be handled in other issues):

[bt_navigator-12] [ERROR] [] []: Original error: Could not load library: libnav2_compute_path_to_pose_action_bt_node.so: cannot open shared object file: No such file or directory

any recommendation on how to fix this?

should i take other consideration for the implantation in foxy be taken in to account?

thank you for the support