Robot_localization listener node- ERROR unexpected process noise covariance matrix size (0) about robot_localization

[marco-indino]

I managed to solve the problem by reading the file in the following link answered by @SteveMacenski : https://robotics.stackexchange.com/questions/105711/nav2-interactive-waypoint-follower-example-can-not-get-robot-localization-state

Basically the problem was that in the robot_navigation.py in the nav2_simple_commander package were missing some lines under the function WaitUntilNav2IsActive that are present in the IRON version.

The code in Humble was:

    def waitUntilNav2Active(self, navigator='bt_navigator', localizer='amcl'):
        """Block until the full navigation system is up and running."""
        self._waitForNodeToActivate(localizer)
        if localizer == 'amcl':
            self._waitForInitialPose()
        self._waitForNodeToActivate(navigator)
        self.info('Nav2 is ready for use!')
        return

And the correct version taken from the IRON version is:

def waitUntilNav2Active(self, navigator='bt_navigator', localizer='amcl'):
        """Block until the full navigation system is up and running."""
        if localizer != "robot_localization":
            self._waitForNodeToActivate(localizer)
        if localizer == 'amcl':
            self._waitForInitialPose()
        self._waitForNodeToActivate(navigator)
        self.info('Nav2 is ready for use!')
        return

I think it could be changed as well in the HUMBLE branch, is it possible?