Build nav2 from source

[sea-bass]

Per #57, seems like something in the nav2 binaries is taking down this demo due to TF lookup errors, but the tip of Jazzy (release 1.3.5) from source seems to work?

[sea-bass]

@elsayedelsheikh -- since you have more experience with Nav2 than I do, curious if you know what may be going on?

[elsayedelsheikh]

@elsayedelsheikh -- since you have more experience with Nav2 than I do, curious if you know what may be going on?

I've tested on Jazzy as well with Nav2 binaries "1.3.4-1noble.20250115.215155", and I was able to reproduce the same error. However, version 1.3.3 is working fine. This issue is not related to turtlebot3_behavior_demos, but rather a problem with nav2_bringup.

After further investigation without using composition, I found that the issue is specifically related to the bt_navigator node.

[bt_navigator-17] [INFO] [1739090356.235595593] [bt_navigator]: Begin navigating from current location (-4.68, -0.39) to (-0.75, 0.89)
[bt_navigator-17] Fatal glibc error: pthread_mutex_lock.c:450 (__pthread_mutex_lock_full): assertion failed: e != ESRCH || !robust
[ERROR] [bt_navigator-17]: process has died [pid 45317, exit code -6, cmd '/opt/ros/jazzy/lib/nav2_bt_navigator/bt_navigator --ros-args --log-level info --ros-args -r __node:=bt_navigator -p use_sim_time:=True --params-file /tmp/launch_params_aeg411hc -r /tf:=tf -r /tf_static:=tf_static'].

The new release should solve this problem 👍

[sea-bass]

Yes, that's right! I was also able to reproduce it with one of the standard Nav2 demos.

It must be something in this PR, though hard to say which one: ros-navigation/navigation2#4902

Thanks! I will keep this open for a little longer until the next Jazzy sync happens. I believe it's just tomorrow...