hi, i have a trouble while subscribing TF data. i did that using arduino and connected to rasphi 4 using USB to serial. my plan is trying to catch rplidar coordinates using carthographer algorithm. i can get the coordinates but only once after entering this line to terminal: rosrun rosserialpython serialnode.py /dev/ttyUSB0. i already check the topic using rostopic echo /tf and seems the coordinates updates correctly. anyone can help?

i follow this site to install my cartographer package: https://medium.com/robotics-weekends/2d-mapping-using-google-cartographer-and-rplidar-with-raspberry-pi-a94ce11e44c5

using ROS MELODIC, ubuntu 18, rasphi 4b, esp32 with arduino ide, USB to serial, RPLIDAR A1M8.

note: actually i already test this program but using hector slam algorithm and arduino can subscribe normally.

im provide some picture.

1. pict (1) rviz view: https://drive.google.com/file/d/1sL0U0B3My7FRYafo8huGjSFvObkjsfKB/view?usp=sharing

2. pict (2) comparation value: https://drive.google.com/file/d/1O_N29gx_H7LY1MDyI001Uk9iwLMy1dej/view?usp=sharing

3. pict (3) comparation value after restart serial communication using rosrun rosserialpython serialnode.py /dev/ttyUSB0: https://drive.google.com/file/d/1K7OR98wJYX-y73KHU3bfiDNHlXqf25S9/view?usp=sharing

4. pict (4) serial communication command: https://drive.google.com/file/d/1LeF9Z0kDRUfrEeU8g6hg10IQCwyaYlFU/view?usp=sharing

5. pict 5) echo /tf: https://drive.google.com/file/d/1TXoZzrjQ1envknGnPKvghYm2fE_wVLjO/view?usp=sharing

6. arduino code : https://drive.google.com/file/d/1M0xsXz3o4jxpUL13vpoVh5msJsQQ5Pbo/view?usp=sharing

7. rostopic info: https://drive.google.com/file/d/1bTA3XDVKeQHHDO-Gjy2FZHbJjUfoJsuu/view?usp=sharing