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You need to include sample messages from your sensor inputs, but this sometimes indicates that the topic name, time stamp, or frame_id of the input message is incorrect. Failing that, it looks like you have use_sim_time specified. That's not a parameter for r_l; does ROS 2 require that you specify that parameter for each node when sim time is being used? In ...


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are current VIOs capable of providing robust localization/navigation?-> It might work but remember that the camera always looks down to find a feature to track. Old generation of vacuum robots is looking up and tracking the features on the ceiling. Yours is the opposite case. Also, you should expect the translation estimation from VIO might not be as ...


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As you've figured, static transforms are valid for fixed offsets such as sensor positions. They are the minimal solution the more complete recommended solution is to setup a robot model. There's tutorials on that here. More directly towards your question on how to define the map to base link. That is generally referred to as localization. You will need to ...


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