Hi, I have the following project, a 4 wheeled robot based on ROS2 official documentation and some additional Internet sources. The link points to a ZIP, simply unpacking it inside "src" of a ROS2 workspace should be sufficient.

Link: https://drive.google.com/file/d/1HiOjy_yukd2RJsHtdtc9ELe9hSBqXrhT/view?usp=sharing

In a zip, the lidar is commented out, just so it doesn't clog the picture. However, before that, i had it enabled, navigated the robot around and got a map (it is in a "maps" folder now).

The next step - one I failed - was to load the map into RViz. What I do:

Terminal 1: ros2 launch navigationbot04 launch_sim.launch world:=src/worlds/maze.sdf

This brings up RViz and Gazebo, but RViz doesn't show the robot yet, as it is configured to show map, which is not there yet. To fix it:

Terminal 2: ros2 launch slamtoolbox onlineasync_launch.py

Now we have a robot and (if we enable lidar) it can drive around and scan.

Now I want to load map.

Terminal 3: ros2 launch nav2bringup navigationlaunch.py

... and I am getting "[globalcostmap.globalcostmap]: Can't update static costmap layer, no map received"

Also, if you look in rsp.launch.py, you can see that I tried other ways of bringing up the map server. No luck.

Could someone please tell me how to fix this package and what is wrong in it? Thank you.