Hey ROS Community,

i have the following problem:

I got the flatland repository: https://github.com/avidbots/flatland I also get the turtlebot flatland: https://github.com/avidbots/turtlebot_flatland

I want to test out the nav2 stack in flatland turtlebot. So i started the rosbridge: ros2 run ros1bridge dynamicbridge

I also start the turtlebot in flatland in ros1 noetic: roslaunch turtlebotflatland turtlebotin_flatland.launch

I started the nav2 stack with this file:

#!/usr/bin/env python3
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration

TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']

def generate_launch_description():

     use_sim_time = LaunchConfiguration('use_sim_time', default='false')

     nav2_launch_file_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')

     rviz_config_dir = os.path.join(get_package_share_directory('nav2_bringup'),'rviz','nav2_default_view.rviz')

     map_dir = LaunchConfiguration('map', default=os.path.expanduser('~/catkin_ws/src/turtlebot_flatland/maps/hospital_section.yaml'))
     # map_dir = LaunchConfiguration('map', default=os.path.join(get_package_share_directory('arena-simulation-setup'), 'maps', 'map_empty', 'map.yaml'))

     return LaunchDescription([

        # Declare Parameters to use at runtime
        DeclareLaunchArgument(
            'map',
            default_value= map_dir,
            description='Full path to map file to load'),

        # Start Launch Files
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),
            launch_arguments={
                'map': map_dir,
                'use_sim_time': use_sim_time}.items(),
        ),    

        # Start Nodes
         Node(
            package='rviz2',
            node_executable='rviz2',
            node_name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen'),

     ])

If i use the 2D Nav Goal button in nav1 stack rviz1 both robot move in rviz1 and rviz2.

If i use the navigation 2 goal button in rviz2 the robot not moving in rviz1 and rviz2.

I got the following message in the terminal where i started the nav2 stack with rviz2: [amcl-2] Warning: invalid frame ID "basefootprint" passed to canTransform argument targetframe - frame des not exist

How can i use the navigation 2 goal button in rviz2 nav2 stack to control the robot in rviz1 nav1 stack? Is it possible in this way?

Thank you so much !