Robotics StackExchange | Archived questions

Ros2 Foxy: slam_toolbox doesn't publish map

Hi! Im following navigation2 first-time robot setup guide ( First-Time Robot Setup Guide — Navigation 2 1.0.0 documentation ). I am at the final part where i need to implement slam. Before trying to use slamtoolbox everything is working as intended. My problem comes when i try to run slamtoolbox. I run my robot with

ros2 launch sambotdescription display.launch.py

and then the slam_toolbox with

ros2 launch slamtoolbox onlineasync_launch.py

I see no error messages but there is a warning on rviz that there is no transform from [map] to [base_link]. If i try to add the map to rviz im able to but i get the message that “No map received”. Also, on the shell i get error messages like the following:

" [rviz2-5] [INFO] [1628605373.739986946] [rviz2]: Message Filter dropping message: frame ‘map’ at time 0.000 for reason ‘Unknown’ "

It seems to me that the map frames (which are being published, altough very slowly) don’t have the correct timestamp but i don’t know how to fix that and get the slam toolbox to use the sim time.

The code im using is available here: https://github.com/ros-planning/navigation2_tutorials/tree/master/sam_bot_description/

Thanks in advance

Asked by Diogo_Silva on 2021-08-10 12:20:36 UTC

Comments

It seems like you are not the only one having this problem. Do you have any updates?

Asked by Jinyong on 2021-11-29 00:36:05 UTC

Answers

If https://github.com/ros-planning/navigation2_tutorials/pull/43 is reflective of your issue, you simply need to change to the proper QoS settings for the map topic.

Asked by stevemacenski on 2021-12-08 15:56:50 UTC

Comments