I am working on a multi-robot AMR simulation using ROS 2, Gazebo, and Nav2 AMCL.
When running a single robot without a namespace, everything works perfectly. However, when I scale it up to a multi-robot system using namespaces (robot_1 and robot_2), my TF tree breaks. In RViz, I get the following error for every link on the robot:
No transform from [robot_1/caster_front_left] to [map]
No transform from [robot_1/base_link] to [map]
even though I changed the TF Prefix
If I change the Fixed Frame in RViz from map to robot_1/odom, the robot model loads correctly and the error goes away, but the global map disappears so the local robot transform tree (robot_1/odom → robot_1/base_link → joints) is working, but the link connecting the robot to the map is completely missing.
And this is happening for every robot and every link.