Nov 4th update:

https://youtu.be/0kUQZ5qLRQA 30seconds video

Oct 26th update:

Problems: 1. odometry orientation does not changes. 2. warning messages when running dualekfnavsat_example.launch

commands that I run on the master (laptop):

roscore

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/yuxiang/Desktop/Robot/empty_map.yaml

[ WARN] [1666806297.992307247]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.3222 seconds

roslaunch robot_localization dual_ekf_navsat_example.launch predict_to_current_time_:=true

[ WARN] [1666806296.747844208]: navsattransform, Parameter 'broadcastutmtransform' has been deprecated. Please use'broadcastcartesian_transform' instead.

[ WARN] [1666806299.803550675]: Unable to obtain base_link->gps transform. Will assume navsat device is mounted at robot's origin

[ WARN] [1666806299.836781441]: Could not obtain base_link->gps transform. Will not remove offset of navsat device from robot's origin.

[ WARN] [1666806301.019605730]: Transform from basefootprint to baselink was unavailable for the time requested. Using latest instead.

[ WARN] [1666806301.019705977]: Transform from basefootprint to baselink was unavailable for the time requested. Using latest instead.

[ WARN] [1666806302.270112237]: Could not obtain transform from gps to baselink. Error was "gps" passed to lookupTransform argument sourceframe does not exist.

commands that I run on the turtlebot3 (remote):

roslaunch turtlebot3_bringup turtlebot3_robot.launch
roslaunch ros_imu_bno055 imu.launch serial_port:=/dev/ttyUSB1 operation_mode:=NDOF_FMC_OFF use_magnetometer:=True
rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyUSB2 _baud:=9600

physical setup: rqt_graph tf tree

You could also see the images, more details and a bag file here: https://drive.google.com/drive/folders/1zmdocKT49abUHVkeW7uTFkuDEBOep992?usp=sharing

the most recent launch files and yaml file

ekf yaml https://github.com/AutoPlow/TurtleBot/blob/main/GPS/modified_dual_ekf_navsat_example.yaml

dualekfnavsatexample.launch https://github.com/AutoPlow/TurtleBot/blob/main/GPS/dualekfnavsatexample.launch

turtlebot3navigation.launch https://github.com/AutoPlow/TurtleBot/blob/main/GPS/turtlebot3navigation.launch

I have also modified the turtlebot controller code where I disabled its original IMU: https://github.com/AutoPlow/TurtleBot/blob/main/GPS/turtlebot3_core.ino

a video that describes the issue: https://www.youtube.com/watch?v=dO-2orfRYpo

Your suggestions would be much appreciated!

Thanks,

related questions: https://answers.ros.org/question/342480/persistent-transform-warning-in-robot_localization/ https://answers.ros.org/question/372501/robot-localization-time-stamps/file:///home/yuxiang/Pictures/Screenshot%20from%202022-10-15%2021-33-05.png

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /gazebo:
   * /gazebo/set_link_state
   * /gazebo/set_model_state
 * /rviz:
   * /map_updates
 * /move_base:
   * /move_base/cancel
 * /ekf_se_odom:
   * /set_pose
   * /imu/data
 * /ekf_se_map:
   * /set_pose
   * /imu/data
 * /navsat_transform:
   * /imu/data
   * /fix

WARNING These nodes have died:
 * spawn_urdf-3


Found 1 error(s).

ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/global_costmap/footprint)
 * /move_base->/move_base (/move_base/local_costmap/footprint)

,