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From the image and error, I think your problem is in the odom. The parent and child frame ids looks neat in the tf frames. The message filter drop error shows that theres something missing in the timing. Did you set up the timestamp on the odom publisher? Do you have a odom time wall? Theres an odom sanity check that you could probably try out. For the error from nav2, not really sure but check your tf static (laser to base link) if its set up properly. If your robot receives only the initial map (in rviz) but doesnt update as you move the robot, then the problem must be in the odom.