Ros2 Foxy: slam_toolbox doesn't publish map

asked 2021-08-10 12:30:47 -0500

Diogo_Silva gravatar image

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 slam_toolbox everything is working as intended. My problem comes when i try to run slam_toolbox. I run my robot with

ros2 launch sam_bot_description display.launch.py

and then the slam_toolbox with

ros2 launch slam_toolbox online_async_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/navig...

Thanks in advance

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