I am taking ground-truth odom and lidar scan messages from gazebo garden and using custom nodes to change the time stamps to ros2 time.
I verified that messages are correct in both systems. When lanching AMCL, setting pose using rviz the robot moves to initial pose and then on hitting Nav2Goal robot starts moving slowly in translation but when rotational goal sent, it struggles and lidar scan do no match at all and remains static with the robot movement.
warning like AMCL lookup would require into future from base_link to odom comes but I have looked numerous issues and these are just ignored in them. Also when I set pose estimate completely opposite direction robot comes to that pose in rviz but not in gazebo.
One thing I suspect is the robot is skidding in gazebo might be that's why it is not moving properly?
In rqt, the scan topic is coming at 2hz while odom is at 10 hz and tf is 22hz is this all causing issue. But if these were issues then lookup warning should show [Error] instead of [WARN].
My question is I need to how to solve this issue as nav2 seems launched properly as I am using default launch.
If anybody could advice or any walkaround it will be helpful.@steven-macenski
One thing is that I want everything to work on system/wall time.