navigation2运行时出现问题

系统：用最新固件烧写的ubuntu系统
问题：按照教程运行Navigation2 2D导航功能例程时，在执行步骤4出现报错
运行ros2 launch nav2_bringup navigaiton2.launch.py
添加目标点进行导航
出现报错：
[bt_navigator-7] [INFO] [1751956745.531792477] [bt_navigator]: Begin navigating from current location to (-0.76, 1.43)
[bt_navigator-7] [ERROR] [1751956745.532365525] [bt_navigator]: Action server failed while executing action callback: “One of the children of a DecoratorNode or ControlNode is nullptr”
[bt_navigator-7] [WARN] [1751956745.532547568] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

此前，Eulercer.nav2.yaml文件中出现的部分相关node在系统中无法找到，被我注释
bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_footprint
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20

#wait_for_service_timeout: 1000
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
  - nav2_compute_path_to_pose_action_bt_node
  # - nav2_compute_path_through_poses_action_bt_node
  # - nav2_smooth_path_action_bt_node
  - nav2_follow_path_action_bt_node
  - nav2_spin_action_bt_node
  - nav2_wait_action_bt_node
  # - nav2_assisted_teleop_action_bt_node
  - nav2_back_up_action_bt_node
  # - nav2_drive_on_heading_bt_node
  - nav2_clear_costmap_service_bt_node
  - nav2_is_stuck_condition_bt_node
  - nav2_goal_reached_condition_bt_node
  - nav2_goal_updated_condition_bt_node
  # - nav2_globally_updated_goal_condition_bt_node
  # - nav2_is_path_valid_condition_bt_node
  - nav2_initial_pose_received_condition_bt_node
  - nav2_reinitialize_global_localization_service_bt_node
  - nav2_rate_controller_bt_node
  - nav2_distance_controller_bt_node
  - nav2_speed_controller_bt_node
  - nav2_truncate_path_action_bt_node
  # - nav2_truncate_path_local_action_bt_node
  - nav2_goal_updater_node_bt_node
  - nav2_recovery_node_bt_node
  - nav2_pipeline_sequence_bt_node
  - nav2_round_robin_node_bt_node
  - nav2_transform_available_condition_bt_node
  - nav2_time_expired_condition_bt_node
  # - nav2_path_expiring_timer_condition
  - nav2_distance_traveled_condition_bt_node
  # - nav2_single_trigger_bt_node
  # - nav2_goal_updated_controller_bt_node
  - nav2_is_battery_low_condition_bt_node
  # - nav2_navigate_through_poses_action_bt_node
  - nav2_navigate_to_pose_action_bt_node
  # - nav2_remove_passed_goals_action_bt_node
  # - nav2_planner_selector_bt_node
  # - nav2_controller_selector_bt_node
  # - nav2_goal_checker_selector_bt_node
  # - nav2_controller_cancel_bt_node
  # - nav2_path_longer_on_approach_bt_node
  # - nav2_wait_cancel_bt_node
  # - nav2_spin_cancel_bt_node
  # - nav2_back_up_cancel_bt_node
  # - nav2_assisted_teleop_cancel_bt_node
  # - nav2_drive_on_heading_cancel_bt_node
  # - nav2_is_battery_charging_condition_bt_node