sorry for the long post, just want to make sure i include all the details.
I am working on learning ROS2 by building a robot which maps and navigates my apartment.
I'm using the RPLidar A1 sensor with the
a Robot Create 2 as the chassis with the
and running everything off of a Raspberry Pi 4 4GB with Ubuntu Mate
Currently, I am able to get LIDAR readings to successfully be viewed in RVIZ. I can also get one or two frames of a map to be built. When the robot starts to move, the lidar readings update, but the map itself does not. However, i continue to 'receive' map updates at about 1 every 1.5 seconds.
Here are images from rviz showing the moving scan but with the non-moving map: https://i.stack.imgur.com/CvMDD.jpg
I'm also getting a few errors, from RVIZ i am getting:
[rviz]: Message Filter dropping message: frame 'map' at time 1619194935.882 for reason 'Unknown'
from nav2, I am getting
[global_costmap.global_costmap_rclcpp_node]: Message Filter dropping message: frame 'laser' at time 1619194959.629 for reason 'Unknown'
My frame map looks like this (Most of the frames are created by the
I suspect my issue is with my transforms, either they're configured completely wrong, or there is something small
slam_toolboxdoes the transform from map -> odom
create_robotpackage has other transforms from base_link to wheels, bumpers, etc and it also publishes odom data
- using tf2, i'm publishing a transform between base_link and laser and then laser to base_scan.
- I am also creating a transform from odom to base_footprint because of a ros2 navigation course i was taking on the construct.
Has anyone seen this type of error before? I feel like I am most of the way to the solution but i'm missing something easy