Hi all,

I'm debugging a strange behavior of my Nav2 instance and I guess that the problem is related to the odom transform.

It seems that ROS2 Foxy and Humble do not keep track of the name of the broadcasters of a transform, so it's not easy to debug the errors with TF.

My problem is related to my local cost map that flickers in Rviz2, and my only clue is this totally unuseful log message with ROS2 Foxy:

[rviz2] [INFO] Message Filter dropping message: frame 'odom' at time 1666019142.752 for reason 'Unknown'

On another PC connected to the same network, but running ROS2 Humble, I get this message instead, but here the problem is less frequent:

[rviz2][INFO]: Message Filter dropping message: frame 'odom' at time 1666018564.472 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

I've been looking for a solution to this problem for many days, but I just can't understand the causes and which tool could be useful to solve it.

Any ideas?