Hey,

I'm using the differential drive plugin to simulate a robot in ROS 2. The distro used is Rolling.

I wanted transform between the odom and the base_footprint of the robot, so I use the lookup transform from tf2. Eventually I was not able to determine it because of the warning I had:

"odom" passed to canTransform argument target_frame - frame does not exist

Note that I also had a waitTransform()! I further went a bit deep and I found that the transformation between the "odom" and the "baselink" is being published very slow. Here is the output of the tf2monitor:

[INFO] [1631802573.358697219] [tf2_monitor_main]: Waiting for transform odom ->  base_footprint: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
Gathering data on odom -> base_footprint for 10 seconds...
RESULTS: for odom to base_footprint
Chain is: odom -> base_footprint
Net delay     avg = 3.10486e+08: max = 1.6318e+09

Frames:
Frame: base_footprint, published by <no authority available> 100.287 Hz, Average Delay: 1.6318e+09, Max Delay: 1.6318e+09

What could be the reason for it?

Edit: Also it is same in Galactic! The odometry, the robot visualization in RViz and Gazebo are working fine