I'm experiencing an issue in my stack when I add the Collision Monitor and can't understand what exactly the problem is. When the project is launched I get this error:
[lifecycle_manager-18] [INFO] [1753275760.521085946] [lifecycle_manager]: Configuring /boomer_1/collision_monitor [collision_monitor-17] [INFO] [1753275760.522109107] [boomer_1.collision_monitor]: Configuring [collision_monitor-17] [ERROR] [1753275760.534541415] [boomer_1.collision_monitor]: Error while getting parameters: parameter 'observation_sources' is not initialized [collision_monitor-17] [INFO] [1753275760.534667625] [boomer_1.collision_monitor]: Cleaning up [lifecycle_manager-18] [ERROR] [1753275760.542115060] [lifecycle_manager]: Failed to change state for node: /boomer_1/collision_monitor [lifecycle_manager-18] [ERROR] [1753275760.542187257] [lifecycle_manager]: Failed to bring up all requested nodes. Aborting bringup. It's complaining about observation_sources not being initialized (whatever that means). My full configuration for the collision monitor is as follows:
collision_monitor: ros__parameters: base_frame_id: boomer_1/base_link odom_frame_id: boomer_1/odom cmd_vel_in_topic: /boomer_1/cmd_vel cmd_vel_out_topic: /boomer_1/cmd_vel_smoothed state_topic: /boomer_1/collision_monitor_state transform_tolerance: 0.5 source_timeout: 5.0 base_shift_correction: true stop_pub_timeout: 2.0 enable_stamped_cmd_vel: false use_realtime_priority: false polygons: [PolygonSlow] PolygonSlow: {enabled: true, type: polygon, points: '[[1.0, 1.0], [1.0, -1.0], [-0.5, -1.0], [-0.5, 1.0]]', action_type: slowdown, min_points: 4, slowdown_ratio: 0.3, visualize: true, polygon_pub_topic: /boomer_1/polygon_slowdown} observation_sources: [scan] scan: {type: scan, topic: /boomer_1/lidar} That is the output of the YAML that is being passed to the collision monitor process, as shown in this ps output:
ros2 8470 1.4 0.1 662448 26620 pts/0 Sl+ 14:17 0:00 /opt/ros/jazzy/lib/nav2_collision_monitor/collision_monitor --ros-args -r __node:=collision_monitor -r __ns:=/boomer_1 --params-file /home/ros2/install/boomer_bridge/share/boomer_bridge/params/nav2_collision_monitor_boomer_1.yaml -r /tf:=/boomer_1/tf -r /tf_static:=/boomer_1/tf_static I can't fully understand what is this initialization that is referring to, I have checked the examples and the documentation from: Using Collision Monitor and can't see anything wrong in my config file.
You might notice that my scan topic is actually: /boomer_1/lidar and that is correct as I'm using a namespaced robot (in the examples and docs that topic is simply scan, but I'm confident that that is not the source of the problem). As stated above, my stack works perfectly fine without the Collision Monitor enabled.
Any help, greatly appreaciated.
Thanks, Lucas.
