adyansh04/grove-g1/nav2-not-up

Nav2 never came up

On this robot Nav2 failing at start is almost always the robot, not Nav2: it fell while the simulator released it, and Nav2 aborts its bring-up 60 s later because odometry never settles.

1. Call robot_state. If can_move is false or tilt_deg is large, the robot is down: follow the

robot-fell skill instead and stop here.

1. Call log_tail for lifecycle_manager_navigation. "Aborting bringup" about 60 s after

"Activating controller_server" means the costmap never got its transform: the robot was down or odometry was not latched.

1. Call log_tail for g1_odometry_publisher. "Not latching the odom origin at N degrees" means

the body was tilted at start: the same fall.

1. Call log_tail for ros2_control_node and look for the locomotion safety controller tripping

("joint velocity left the policy's trained range"): the arms moved while the robot settled.

1. If none of these shows, call ros_graph and check that /bt_navigator, /controller_server

and /planner_server exist. Missing nodes, or many controllers "unconfigured", can mean two simulator stacks run at once.

Tell the operator what you found in two sentences. The fix for a fall or a half-started stack is to stop it (./scripts/clean-stack.sh) and start it again; never plan a walk until robot_state says the robot can move.