SLAM_toolbox : no pose topic published

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Hi all,

I'm facing a problem using the slam_toolbox package in localization mode with a custom robot running ROS2 Foxy with Ubuntu 20.04

I've been looking a lot about how slam and navigation by following the tutorials on Nav2 and turtlebot in order to integrate slam_toolbox in my custom robot.

I've setup all the prerequisite for using slam_toolbox with my robot interfaces:

• launch for urdf and robot_state_publisher
• laser scan topic
• custom odometry that publish the transformed for rviz

Currently, my odometry package published an Odometry ros2 msg between my odom_frame and my base_frame, and also a tf2 TransformedStamped msg for for displaying the robot on Rviz.

Basically, I managed to use the package for mapping my environment and save the map without problem using the online_sync_launch.py and then I tried to run all 3 differents launch files in localization mode to get the pose topic but the position is not published from slam_toolbox/

I noted that some of my lidar frame are dropped when I launch the nodes but my guess was that my laser scan rate was too high and that it should not be a problem to make things work, right ?

[localization_slam_toolbox_node-1] [INFO] [1669298864.285423435] [slam_toolbox]: Message Filter dropping message: frame 'lidar_1' at time 1669298864.243 for reason 'Unknown'

I've been trying to investigate about my problem but without getting any clue. I would like to know if anyone had succeded to integrate and use slam_toolbox localization with a complete custom robot and interface. Some help would be really much appreciated.

Thanks in advance.