It seems that the rplidar and create3 times do not match. local_costmap is not visible

Please provide the following information:

OS: Ubuntu 22.04
ROS Distro: humble
H.2.3 firmware
FastDDS

Expected behaviour

When running nav2, local_costmap should appear so turtlebot can avoid objects.

Actual behaviour

When running nav2, global_costmap can be moved, but local_hostmap does not appear. 2 out of 5 robots. This symptom is very important, and it is highly likely that it will also appear in my other Turtlebots, so I must provide a solution.

To Reproduce

Provide the steps to reproduce:

The commands executed are as follows.

ros2 launch turtlebot4_navigation localization.launch.py map:=test1.yaml ros2 launch turtlebot4_navigation nav2.launch.py ros2 launch turtlebot4_viz view_robot.launch.py ----------- terminal ------------------- $ ros2 launch turtlebot4_navigation localization.launch.py map:=test1.yaml [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-12-06-04-40-15-733801-ubuntu-1660 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [map_server-1]: process started with pid [1661] [INFO] [amcl-2]: process started with pid [1663] [INFO] [lifecycle_manager-3]: process started with pid [1665]

[lifecycle_manager-3] [INFO] [1701837616.837421715] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [amcl-2] [INFO] [1701837616.889747046] [amcl]: [amcl-2] amcl lifecycle node launched. [amcl-2] Waiting on external lifecycle transitions to activate [amcl-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[map_server-1] [INFO] [1701837616.964879525] [map_server]: [map_server-1] map_server lifecycle node launched. [map_server-1] Waiting on external lifecycle transitions to activate [map_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[lifecycle_manager-3] [INFO] [1701837618.851586001] [lifecycle_manager_localization]: Waiting for service map_server/get_state... [lifecycle_manager-3] [INFO] [1701837620.852035035] [lifecycle_manager_localization]: Waiting for service map_server/get_state... [lifecycle_manager-3] [INFO] [1701837620.877623041] [lifecycle_manager_localization]: Starting managed nodes bringup... [lifecycle_manager-3] [INFO] [1701837620.877796742] [lifecycle_manager_localization]: Configuring map_server

[map_server-1] [INFO] [map_io]: Loading yaml file: test1.yaml [map_server-1] [DEBUG] [map_io]: resolution: 0.05

[map_server-1] [DEBUG] [map_io]: free_thresh: 0.25 [map_server-1] [DEBUG] [map_io]: occupied_thresh: 0.65 [map_server-1] [DEBUG] [map_io]: mode: trinary [map_server-1] [DEBUG] [map_io]: negate: 0 [map_server-1] [INFO] [map_io]: Loading image_file: ./test1.pgm [map_server-1] [DEBUG] [map_io]: Read map ./test1.pgm: 226 X 334 map @ 0.05 m/cell [lifecycle_manager-3] [INFO] [1701837621.036223330] [lifecycle_manager_localization]: Configuring amcl

[amcl-2] [INFO] [1701837622.083357240] [amcl]: Subscribed to map topic. [lifecycle_manager-3] [INFO] [1701837622.120085396] [lifecycle_manager_localization]: Activating map_server

[map_server-1] [INFO] [1701837622.124426958] [map_server]: Creating bond (map_server) to lifecycle manager. [amcl-2] [INFO] [1701837622.126428065] [amcl]: Received a 226 X 334 map @ 0.050 m/pix [lifecycle_manager-3] [INFO] [1701837622.257833219] [lifecycle_manager_localization]: Server map_server connected with bond. [lifecycle_manager-3] [INFO] [1701837622.257991643] [lifecycle_manager_localization]: Activating amcl

[amcl-2] [INFO] [1701837622.259513459] [amcl]: Creating bond (amcl) to lifecycle manager.

[lifecycle_manager-3] [INFO] [1701837622.380052830] [lifecycle_manager_localization]: Server amcl connected with bond. [lifecycle_manager-3] [INFO] [1701837622.380231068] [lifecycle_manager_localization]: Managed nodes are active [lifecycle_manager-3] [INFO] [1701837622.380303679] [lifecycle_manager_localization]: Creating bond timer... [amcl-2] [WARN] [1701837624.017502899] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837626.067240798] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837628.069340647] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837630.165679036] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837632.322335365] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837634.484500439] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837636.568310004] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837638.613563460] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837640.771113176] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837642.774989448] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837644.864793214] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837646.914983507] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837649.032670566] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837651.129546655] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837653.133776647] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837655.248263932] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837657.365338199] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837659.377973523] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837661.471379839] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837663.520514343] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837665.524959278] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837667.605769772] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837669.764427221] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837671.815613285] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [amcl-2] [WARN] [1701837673.940716182] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...

[amcl-2] [WARN] [1701837674.899278223] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1701837674.899046 but the latest data is at time 1701837674.847729, when looking up transform from frame [base_link] to frame [odom]) [amcl-2] [INFO] [1701837674.899438759] [amcl]: Setting pose (1701837674.899434): -0.020 -0.009 0.055

$ ros2 launch turtlebot4_navigation nav2.launch.py [smoother_server-2] [INFO] [1701837636.505314578] [smoother_server]: [smoother_server-2] smoother_server lifecycle node launched. [smoother_server-2] Waiting on external lifecycle transitions to activate [smoother_server-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [smoother_server-2] [INFO] [1701837636.606865336] [smoother_server]: Creating smoother server

[lifecycle_manager-8] [INFO] [1701837636.633193807] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [controller_server-1] [INFO] [1701837636.703105890] [controller_server]: [controller_server-1] controller_server lifecycle node launched. [controller_server-1] Waiting on external lifecycle transitions to activate [controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [bt_navigator-5] [INFO] [1701837636.756554621] [bt_navigator]: [bt_navigator-5] bt_navigator lifecycle node launched. [bt_navigator-5] Waiting on external lifecycle transitions to activate [bt_navigator-5] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[controller_server-1] [INFO] [1701837636.780718698] [controller_server]: Creating controller server [planner_server-3] [INFO] [1701837636.785524314] [planner_server]: [planner_server-3] planner_server lifecycle node launched. [planner_server-3] Waiting on external lifecycle transitions to activate [planner_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[behavior_server-4] [INFO] [1701837636.821675311] [behavior_server]: [behavior_server-4] behavior_server lifecycle node launched. [behavior_server-4] Waiting on external lifecycle transitions to activate [behavior_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-3] [INFO] [1701837636.835789234] [global_costmap.global_costmap]: [planner_server-3] global_costmap lifecycle node launched. [planner_server-3] Waiting on external lifecycle transitions to activate [planner_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-1] [INFO] [1701837636.841805452] [local_costmap.local_costmap]: [controller_server-1] local_costmap lifecycle node launched. [controller_server-1] Waiting on external lifecycle transitions to activate [controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-3] [INFO] [1701837636.852379696] [global_costmap.global_costmap]: Creating Costmap [controller_server-1] [INFO] [1701837636.855495434] [local_costmap.local_costmap]: Creating Costmap [lifecycle_manager-8] [INFO] [1701837638.638234294] [lifecycle_manager_navigation]: Waiting for service controller_server/get_state... [lifecycle_manager-8] [INFO] [1701837640.638869736] [lifecycle_manager_navigation]: Waiting for service controller_server/get_state... [lifecycle_manager-8] [INFO] [1701837642.642851990] [lifecycle_manager_navigation]: Waiting for service controller_server/get_state... [lifecycle_manager-8] [INFO] [1701837643.292409989] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-8] [INFO] [1701837643.296276537] [lifecycle_manager_navigation]: Configuring controller_server [controller_server-1] [INFO] [1701837643.656717249] [controller_server]: Configuring controller interface [controller_server-1] [INFO] [1701837643.660372039] [controller_server]: getting goal checker plugins.. [controller_server-1] [INFO] [1701837643.664559529] [controller_server]: Controller frequency set to 20.0000Hz

[controller_server-1] [INFO] [1701837643.733440268] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-1] [INFO] [1701837643.820778270] [local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-1] [INFO] [1701837643.965852752] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-1] [INFO] [1701837643.968377606] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-1] [INFO] [1701837643.998597735] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-1] [INFO] [1701837644.097353993] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-1] [INFO] [1701837644.114697284] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-1] [INFO] [1701837644.125421841] [controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-1] [INFO] [1701837644.160197198] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-1] [INFO] [1701837644.187859567] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-1] [INFO] [1701837644.369091416] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-1] [INFO] [1701837644.385750878] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1701837644.388230268] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-1] [INFO] [1701837644.408958110] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1701837644.414596664] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-1] [INFO] [1701837644.421062861] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1701837644.424554838] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-1] [INFO] [1701837644.435843984] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1701837644.439297757] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-1] [INFO] [1701837644.451724950] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1701837644.455587109] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-1] [INFO] [1701837644.463264280] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1701837644.467362530] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-1] [INFO] [1701837644.475137681] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1701837644.475312513] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-8] [INFO] [1701837644.555808710] [lifecycle_manager_navigation]: Configuring smoother_server [smoother_server-2] [INFO] [1701837644.556920202] [smoother_server]: Configuring smoother server [smoother_server-2] [INFO] [1701837644.674680870] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [smoother_server-2] [INFO] [1701837644.707893775] [smoother_server]: Smoother Server has simple_smoother smoothers available. [lifecycle_manager-8] [INFO] [1701837644.900042180] [lifecycle_manager_navigation]: Configuring planner_server

[planner_server-3] [INFO] [1701837645.016194376] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-3] [INFO] [1701837645.064804881] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-3] [INFO] [1701837645.081587897] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-3] [INFO] [1701837645.081741193] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-3] [INFO] [1701837645.122185364] [global_costmap.global_costmap]: Subscribed to Topics: scan [planner_server-3] [INFO] [1701837645.200422131] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-3] [INFO] [1701837645.207496435] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-3] [INFO] [1701837645.219878315] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-3] [INFO] [1701837645.334596465] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-3] [INFO] [1701837645.334782057] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1701837645.347679247] [planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-8] [INFO] [1701837645.423239903] [lifecycle_manager_navigation]: Configuring behavior_server

[behavior_server-4] [INFO] [1701837645.569149880] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-4] [INFO] [1701837645.586434041] [behavior_server]: Configuring spin [behavior_server-4] [INFO] [1701837645.707699814] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-4] [INFO] [1701837645.722484326] [behavior_server]: Configuring backup [behavior_server-4] [INFO] [1701837645.824839060] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-4] [INFO] [1701837645.846274415] [behavior_server]: Configuring drive_on_heading [behavior_server-4] [INFO] [1701837645.950041251] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [behavior_server-4] [INFO] [1701837646.035975226] [behavior_server]: Configuring assisted_teleop [behavior_server-4] [INFO] [1701837646.102519220] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-4] [INFO] [1701837646.125979784] [behavior_server]: Configuring wait [planner_server-3] [INFO] [1701837646.146319998] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 226 X 334 at 0.050000 m/pix [lifecycle_manager-8] [INFO] [1701837646.231551774] [lifecycle_manager_navigation]: Configuring bt_navigator

[lifecycle_manager-8] [INFO] [1701837647.274636540] [lifecycle_manager_navigation]: Configuring waypoint_follower

[waypoint_follower-6] [INFO] [1701837647.466539317] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-8] [INFO] [1701837647.482795781] [lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-7] [INFO] [1701837647.484804360] [velocity_smoother]: Configuring velocity smoother [lifecycle_manager-8] [INFO] [1701837647.536756120] [lifecycle_manager_navigation]: Activating controller_server

[controller_server-1] [INFO] [1701837647.538907013] [local_costmap.local_costmap]: Checking transform [controller_server-1] [INFO] [1701837647.539001179] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

[controller_server-1] [INFO] [1701837648.252516005] [controller_server]: Creating bond (controller_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1701837648.388395958] [lifecycle_manager_navigation]: Server controller_server connected with bond. [lifecycle_manager-8] [INFO] [1701837648.388572604] [lifecycle_manager_navigation]: Activating smoother_server

[smoother_server-2] [INFO] [1701837648.390085335] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1701837648.531494416] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [lifecycle_manager-8] [INFO] [1701837648.531652508] [lifecycle_manager_navigation]: Activating planner_server

[planner_server-3] [INFO] [1701837648.532930147] [global_costmap.global_costmap]: Checking transform [planner_server-3] [INFO] [1701837648.533043795] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837649.035013014] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837649.533276165] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837650.036743688] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837650.533908847] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837651.033104029] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837651.533139965] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837652.033109327] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837652.534939306] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837653.033130272] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837653.533172837] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837654.033098274] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837654.533167783] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837655.034428192] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837655.533102229] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837656.033107072] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837656.533092693] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837657.033258998] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837657.536616467] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837658.033209019] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837658.533095826] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837659.033089502] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837659.533748841] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837660.033097466] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837660.533112106] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837661.033156097] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837661.533314106] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837662.033113284] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837662.533126238] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837663.033118877] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837663.533102202] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837664.033091249] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837664.533091037] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837665.033126565] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837665.533110982] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837666.033096548] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837666.533124558] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837667.033098975] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837667.533106318] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837668.033041792] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837668.533189745] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837669.033098570] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837669.537310107] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837670.033117312] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837670.533238673] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837671.033638180] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837671.533123731] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837672.033106093] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837672.533104288] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837673.033117020] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837673.533352102] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837674.033106540] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837674.533256641] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837675.033454779] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-3] [INFO] [1701837675.533506085] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1701837675.489010 but the earliest data is at time 1701837675.946942, when looking up transform from frame [base_link] to frame [map]

[planner_server-3] [INFO] [1701837677.048115072] [planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1701837677.059210219] [planner_server]: Creating bond (planner_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1701837677.196828918] [lifecycle_manager_navigation]: Server planner_server connected with bond. [lifecycle_manager-8] [INFO] [1701837677.197145675] [lifecycle_manager_navigation]: Activating behavior_server

[behavior_server-4] [INFO] [1701837677.198975459] [behavior_server]: Activating spin [behavior_server-4] [INFO] [1701837677.199043811] [behavior_server]: Activating backup [behavior_server-4] [INFO] [1701837677.199093551] [behavior_server]: Activating drive_on_heading [behavior_server-4] [INFO] [1701837677.199140162] [behavior_server]: Activating assisted_teleop [behavior_server-4] [INFO] [1701837677.199185421] [behavior_server]: Activating wait [behavior_server-4] [INFO] [1701837677.199241921] [behavior_server]: Creating bond (behavior_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1701837677.347407993] [lifecycle_manager_navigation]: Server behavior_server connected with bond. [lifecycle_manager-8] [INFO] [1701837677.349467128] [lifecycle_manager_navigation]: Activating bt_navigator

[bt_navigator-5] [INFO] [1701837678.545931301] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager. [lifecycle_manager-8] [INFO] [1701837678.683398113] [lifecycle_manager_navigation]: Server bt_navigator connected with bond. [lifecycle_manager-8] [INFO] [1701837678.683612241] [lifecycle_manager_navigation]: Activating waypoint_follower

[waypoint_follower-6] [INFO] [1701837678.686512777] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager. [lifecycle_manager-8] [INFO] [1701837678.843652252] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond. [lifecycle_manager-8] [INFO] [1701837678.843832677] [lifecycle_manager_navigation]: Activating velocity_smoother

[velocity_smoother-7] [INFO] [1701837678.845387592] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager. [lifecycle_manager-8] [INFO] [1701837679.001320816] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond. [lifecycle_manager-8] [INFO] [1701837679.001576426] [lifecycle_manager_navigation]: Managed nodes are active [lifecycle_manager-8] [INFO] [1701837679.001888386] [lifecycle_manager_navigation]: Creating bond timer...

$ ros2 launch turtlebot4_viz view_robot.launch.py [INFO] [launch]: All log files can be found below /home/gmchoi/.ros/log/2023-12-06-04-41-05-971474-gmchoi-11034 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [11035] [rviz2-1] [INFO] [1701837666.390087823] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1701837666.390182120] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-1] [INFO] [1701837666.410362902] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1701837670.587760735] [rviz2]: Trying to create a map of size 226 x 334 using 1 swatches [rviz2-1] [INFO] [1701837671.540806132] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837670.280 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837671.668357395] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837670.415 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837671.796997315] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837670.550 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837671.925212810] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837670.685 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.052548945] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837670.820 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.148864929] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837670.098 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.180552870] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837670.955 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.308748151] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837671.090 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.340632368] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837670.288 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.469300531] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837671.213 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.532137224] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837670.398 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.596325509] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837671.348 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.724745440] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837671.483 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.756769662] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837670.639 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.852414790] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837671.619 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.948841275] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837670.898 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837672.980714341] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837671.753 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.108760692] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837671.888 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.140797487] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837671.148 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.268832190] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837672.011 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.332435776] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837671.389 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.396824755] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837672.147 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.524875698] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837672.282 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.556611969] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837671.599 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.652836279] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837672.417 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.748711962] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837671.788 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.780813613] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837672.552 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.908840981] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837672.687 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837673.940858627] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837671.979 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.068893742] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837672.810 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.132194351] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837672.192 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.197248335] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837672.945 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.324829194] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837673.081 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.356870614] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837672.394 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.452627030] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837673.215 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.548700884] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837672.593 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.580723168] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837673.350 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.708445978] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837673.485 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.740806790] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837672.783 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.786810830] [rviz2]: Setting estimate pose: Frame:map, Position(-0.0198963, -0.00873008, 0), Orientation(0, 0, 0.0277287, 0.999615) = Angle: 0.0554645 [rviz2-1] [INFO] [1701837674.869070952] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837673.608 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.932399430] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837672.993 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837674.997186049] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837673.743 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.124723283] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837673.879 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.156797123] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837673.153 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.252987712] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837674.013 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.348837281] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837673.295 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.380469015] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837674.148 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.508442834] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837674.284 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.541365965] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837673.484 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.669129976] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837674.406 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.733328794] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837673.744 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.796585565] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837674.541 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.924512359] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837674.677 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837675.957287919] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837673.933 for reason 'discarding message because the queue is full' [rviz2-1] [ERROR] [1701837675.967980168] [rviz2]: Lookup would require extrapolation into the future. Requested time 1701837676.124743 but the latest data is at time 1701837676.028364, when looking up transform from frame [rplidar_link] to frame [map] [rviz2-1] [INFO] [1701837676.180624929] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837674.812 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837676.341014030] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837670.440 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837676.352284063] [rviz2]: Trying to create a map of size 50 x 50 using 1 swatches [rviz2-1] [INFO] [1701837676.965058277] [rviz2]: Trying to create a map of size 226 x 334 using 1 swatches [rviz2-1] [INFO] [1701837677.780852207] [rviz2]: Message Filter dropping message: frame 'rplidar_link' at time 1701837674.947 for reason 'discarding message because the queue is full' [rviz2-1] [INFO] [1701837680.107233923] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837671.040 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837680.628479325] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837671.640 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837681.307328213] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837672.240 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837681.812647175] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837672.840 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837682.506203495] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837673.440 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837683.016302909] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837674.040 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837683.163595354] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837674.189 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837683.411797490] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837674.378 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837683.577359160] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837674.539 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837683.708280235] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837674.640 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837683.811908478] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837674.780 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837683.964162667] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837674.990 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837684.217591012] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837675.178 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837684.217717413] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837675.240 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837684.359285182] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837675.389 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837684.612346436] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837675.578 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837684.762648920] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837675.790 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-1] [INFO] [1701837684.905599105] [rviz2]: Message Filter dropping message: frame 'odom' at time 1701837675.840 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

Similar symptoms referred to, github.com/iRobotEducation/create3_examples/issues/44

These are rivz photos and create3 configuration photos and logs.

Other notes Add anything else you thing is important. messages.txt Screenshot from 2023-12-06 04-41-35

turtlebot / turtlebot4

It seems that the rplidar and create3 times do not match. local_costmap is not visible #318