Hello everyone,

I'm new to this forum, so please forgive me if I made a mistake, asking this question.

I am trying to create a 2D map with my LiDAR sensor (YDLIDAR G4) in RViz2. There is a package provided from YDLIDAR that publishes the sensor data to the /scan topic. Visualizing this in RViz is no problem, so i went a step further and calculated the odometry with the package "rf2olaserodometry" and published the information to the /odom topic. Now i try to create a map with "slam_toolbox" but when i start it with

ros2 launch slam_toolbox online_async_launch.py

i get the following Errors:

[async_slam_toolbox_node-1] [INFO] [1671617854.782551103] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1671617854.581 for reason 'Unknown'

This indicates that slam_toolbox is missing some information that needs to be provided, but i have no idea what information that could be. What irritates me is that in between those INFOs there is a WARNing, every 5th or 6th line, with the following output:

[async_slam_toolbox_node-1] [WARN] [1671617854.840516493] [slam_toolbox]: Failed to compute odom pose

I think that slam_toolbox is actually trying to compute here but i can't find a solution for this Error.

Hardware/Software information:

I'm using a RaspberryPi 4 Model B on Ubuntu 20.04.5 LTS (Focal Fossa) with Kernel 5.4.0-1077-raspi and ROS2 running on it.

I hope that you can help me with this, maybe im just missing a simple thing since im pretty new to ROS. If any Information you need is missing, please let me know. Thank you for your help in advance!

Sven