Hello,

I am using ROS2 Foxy on Ubuntu 20.04. My goal is, to have a turtlebot3 (waffle) with SLAM(cartographer) and nav2 all in the namespace "robot1". I downloaded everything with apt as in the installation tutorials from turtlebot3 and nav2.

I launch everything with usesimtime='True' and use the multirobot1.yaml parameter file for nav. When I start everything, I can see the right tf and map in rviz.

When I set a goal pose, I get following output with errors:

[lifecycle_manager-6] [INFO]  [robot1.lifecycle_manager_navigation]: Managed nodes are active
[bt_navigator-4] [INFO] ] [robot1.bt_navigator]: Begin navigating from current location to (1.98, 2.31)
[controller_server-1] [INFO]  [robot1.controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [ERROR]  [tf_help]: Transform data too old when converting from odom to map
[controller_server-1] [ERROR]  [tf_help]: Data time: 35s 567000000ns, Transform time: 35s 345000000ns
[controller_server-1] [ERROR]  [robot1.controller_server]: Unable to transform robot pose into global plan's frame
[controller_server-1] [WARN]  [robot1.controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.
[controller_server-1] [INFO]  [robot1.local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-1] [INFO] [robot1.controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [INFO]  [robot1.controller_server]: Passing new path to controller.
[controller_server-1] [INFO]  [robot1.controller_server]: Passing new path to controller.
[controller_server-1] [ERROR]  [tf_help]: Transform data too old when converting from odom to map
[controller_server-1] [ERROR] [tf_help]: Data time: 37s 777000000ns, Transform time: 37s 545000000ns
[controller_server-1] [ERROR]  [robot1.controller_server]: Unable to transform robot pose into global plan's frame
[controller_server-1] [WARN]  [robot1.controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.
[controller_server-1] [INFO]  [robot1.local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-2] [INFO]  [robot1.global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[recoveries_server-3] [INFO]  [robot1.recoveries_server]: Attempting spin
[recoveries_server-3] [INFO]  [robot1.recoveries_server]: Turning 1.57 for spin recovery.
[recoveries_server-3] [ERROR]  [recoveries_server]: Costmap is not available
[recoveries_server-3] [WARN]  [robot1.recoveries_server]: Collision Ahead - Exiting Spin
[recoveries_server-3] [INFO]  [robot1.recoveries_server]: spin completed successfully
[recoveries_server-3] [INFO] [robot1.recoveries_server]: Attempting wait
[planner_server-2] [INFO]  [robot1.global_costmap.global_costmap]: StaticLayer: Resizing costmap to 97 X 114 at 0.050000 m/pix
[recoveries_server-3] [INFO]  [robot1.recoveries_server]: wait running...
[recoveries_server-3] [INFO]  [robot1.recoveries_server]: wait running...
[recoveries_server-3] [INFO] [robot1.recoveries_server]: wait running...
[recoveries_server-3] [INFO]  [robot1.recoveries_server]: wait running...
[recoveries_server-3] [INFO] [robot1.recoveries_server]: wait running...
[recoveries_server-3] [INFO]  [robot1.recoveries_server]: wait completed successfully
[controller_server-1] [INFO] [robot1.controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [INFO] [robot1.controller_server]: Passing new path to controller.
[controller_server-1] [ERROR] [tf_help]: Transform data too old when converting from odom to map
[controller_server-1] [ERROR] [tf_help]: Data time: 42s 367000000ns, Transform time: 42s 145000000ns
[controller_server-1] [ERROR] [robot1.controller_server]: Unable to transform robot pose into global plan's frame
[controller_server-1] [WARN] [robot1.controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.
[bt_navigator-4] [ERROR] [1662450416.937964013] [robot1.bt_navigator]: Navigation failed

(I removed the time stamps for better eadability)

The robot is moving, but will not care about obstacles and crash.

Do you folks have any idea? I changed some parameters in the yaml, but it seem to change nothing error related. Also I tested 2 PCs to avoid CPU problems, again no solution.