ROSbot 2 Pro - ROS2 Foxy. Mapping Error

Hello.
I have installed in my ROSbot 2.0 Pro the ROS2 Foxy version and I have been having a few problems since then.

When I launch the navigation_demo_pro.launch.py launch file, I don’t receive information from two of the maps topics, I can only sometimes receive information from the local_costmap. Trying to visualize them in Rviz2, a warning appears, apparently some transformations are missing (base_link->map).
I append you the log I get when I execute the launch file.

[INFO] [launch]: All log files can be found below /home/husarion/.ros/log/2022-11-22-06-40-09-312987-ubuntu-17837
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rplidar_composition-1]: process started with pid [17887]
[INFO] [static_transform_publisher-2]: process started with pid [17889]
[INFO] [rosserial_node.py-3]: process started with pid [17891]
[INFO] [rosbot_tf-4]: process started with pid [17893]
[INFO] [static_transform_publisher-5]: process started with pid [17904]
[INFO] [static_transform_publisher-6]: process started with pid [17915]
[INFO] [static_transform_publisher-7]: process started with pid [17919]
[INFO] [static_transform_publisher-8]: process started with pid [17922]
[INFO] [static_transform_publisher-9]: process started with pid [17924]
[INFO] [static_transform_publisher-10]: process started with pid [17927]
[INFO] [controller_server-11]: process started with pid [17937]
[INFO] [planner_server-12]: process started with pid [17939]
[INFO] [recoveries_server-13]: process started with pid [17947]
[INFO] [bt_navigator-14]: process started with pid [17954]
[INFO] [waypoint_follower-15]: process started with pid [17963]
[INFO] [lifecycle_manager-16]: process started with pid [17967]
[INFO] [sync_slam_toolbox_node-17]: process started with pid [17972]
[rplidar_composition-1] 1669128013.774557 [14] rplidar_co: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[rplidar_composition-1] [INFO] [1669128013.913680800] [rplidar_composition]: RPLIDAR running on ROS 2 package rplidar_ros. SDK Version: '1.12.0'
[rplidar_composition-1] [INFO] [1669128014.433962500] [rplidar_composition]: RPLIDAR S/N: EAEEEE8BC8E792D8B1E39BF363384C61
[rplidar_composition-1] [INFO] [1669128014.434279389] [rplidar_composition]: Firmware Ver: 1.27
[rplidar_composition-1] [INFO] [1669128014.434487911] [rplidar_composition]: Hardware Rev: 6
[rplidar_composition-1] [INFO] [1669128014.436058718] [rplidar_composition]: RPLidar health status : '0'
[static_transform_publisher-2] 1669128013.796575 [14] static_tra: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-2] [INFO] [1669128013.978717635] [static_transform_publisher_OJEyhITv7qz6QABk]: Spinning until killed publishing transform from 'base_link' to 'laser'
[rosbot_tf-4] 1669128014.071221 [14]  rosbot_tf: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-5] 1669128014.135332 [14] static_tra: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-6] 1669128014.004053 [14] static_tra: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-6] [INFO] [1669128014.531692156] [static_transform_publisher_SVyWRpssY9dNwzXO]: Spinning until killed publishing transform from 'base_link' to 'front_right_wheel'
[static_transform_publisher-7] 1669128014.333453 [14] static_tra: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-8] 1669128014.662756 [14] static_tra: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-9] 1669128014.496030 [14] static_tra: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-5] [INFO] [1669128014.782657848] [static_transform_publisher_QFcbzYo9tPWeJL0R]: Spinning until killed publishing transform from 'base_link' to 'front_left_wheel'
[static_transform_publisher-10] 1669128014.878916 [14] static_tra: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-7] [INFO] [1669128014.982591712] [static_transform_publisher_wkkVw1FBtWJug2oh]: Spinning until killed publishing transform from 'base_link' to 'rear_left_wheel'
[waypoint_follower-15] 1669128015.045963 [14] waypoint_f: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[lifecycle_manager-16] 1669128015.167131 [14] lifecycle_: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[planner_server-12] 1669128015.167158 [14] planner_se: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[rplidar_composition-1] [INFO] [1669128015.171847793] [rplidar_composition]: current scan mode: Sensitivity, max_distance: 25.0 m, Point number: 15.9K , angle_compensate: 4, flip_x_axis 0
[recoveries_server-13] 1669128015.176417 [14] recoveries: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-9] [INFO] [1669128015.475289911] [static_transform_publisher_t3vJln4BDFm6vPyE]: Spinning until killed publishing transform from 'base_link' to 'top'
[controller_server-11] 1669128015.701209 [14] controller: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[static_transform_publisher-8] [INFO] [1669128016.061899781] [static_transform_publisher_yHAkarh0EOWbM0eV]: Spinning until killed publishing transform from 'base_link' to 'rear_right_wheel'
[bt_navigator-14] 1669128016.248805 [14] bt_navigat: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[lifecycle_manager-16] [INFO] [1669128016.671443419] [lifecycle_manager_navigation]: Creating
[waypoint_follower-15] [INFO] [1669128017.028067911] [waypoint_follower]: 
[waypoint_follower-15] 	waypoint_follower lifecycle node launched. 
[waypoint_follower-15] 	Waiting on external lifecycle transitions to activate
[waypoint_follower-15] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-15] [INFO] [1669128017.028967056] [waypoint_follower]: Creating
[static_transform_publisher-10] [INFO] [1669128017.097343443] [static_transform_publisher_a0CAK71zbxpMCukQ]: Spinning until killed publishing transform from 'base_link' to 'camera_link'
[recoveries_server-13] [INFO] [1669128017.993741922] [recoveries_server]: 
[recoveries_server-13] 	recoveries_server lifecycle node launched. 
[recoveries_server-13] 	Waiting on external lifecycle transitions to activate
[recoveries_server-13] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1669128018.078049955] [planner_server]: 
[planner_server-12] 	planner_server lifecycle node launched. 
[planner_server-12] 	Waiting on external lifecycle transitions to activate
[planner_server-12] 	See https://design.ros2.org/articles/node_lifecycle.html for more information
[lifecycle_manager-16] [INFO] [1669128018.217148256] [lifecycle_manager_navigation]: e[34me[1mCreating and initializing lifecycle service clientse[0me[0m
[planner_server-12] [INFO] [1669128018.720113719] [planner_server]: Creating
[lifecycle_manager-16] [INFO] [1669128018.751184667] [lifecycle_manager_navigation]: e[34me[1mStarting managed nodes bringup...e[0me[0m
[lifecycle_manager-16] [INFO] [1669128018.751492456] [lifecycle_manager_navigation]: e[34me[1mConfiguring controller_servere[0me[0m
[bt_navigator-14] [INFO] [1669128018.866999053] [bt_navigator]: 
[bt_navigator-14] 	bt_navigator lifecycle node launched. 
[bt_navigator-14] 	Waiting on external lifecycle transitions to activate
[bt_navigator-14] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-14] [INFO] [1669128018.867905035] [bt_navigator]: Creating
[controller_server-11] [INFO] [1669128019.102897455] [controller_server]: 
[controller_server-11] 	controller_server lifecycle node launched. 
[controller_server-11] 	Waiting on external lifecycle transitions to activate
[controller_server-11] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-11] [INFO] [1669128019.667746903] [controller_server]: Creating controller server
[planner_server-12] [INFO] [1669128020.696628906] [global_costmap.global_costmap]: 
[planner_server-12] 	global_costmap lifecycle node launched. 
[planner_server-12] 	Waiting on external lifecycle transitions to activate
[planner_server-12] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1669128020.794809050] [global_costmap.global_costmap]: Creating Costmap
[controller_server-11] [INFO] [1669128021.531425113] [local_costmap.local_costmap]: 
[controller_server-11] 	local_costmap lifecycle node launched. 
[controller_server-11] 	Waiting on external lifecycle transitions to activate
[controller_server-11] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-11] [INFO] [1669128021.543354828] [local_costmap.local_costmap]: Creating Costmap
[controller_server-11] [INFO] [1669128022.040965782] [controller_server]: Configuring controller interface
[controller_server-11] [INFO] [1669128022.098883042] [controller_server]: Controller frequency set to 10.0000Hz
[controller_server-11] [INFO] [1669128022.100411991] [local_costmap.local_costmap]: Configuring
[controller_server-11] [INFO] [1669128022.520653473] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-11] [INFO] [1669128022.735643809] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-11] [INFO] [1669128023.224318719] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-11] [INFO] [1669128023.224652807] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-11] [INFO] [1669128023.405705813] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-11] [INFO] [1669128023.710086234] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-11] [INFO] [1669128023.740350520] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-11] [INFO] [1669128023.811372403] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-11] [INFO] [1669128023.880415321] [controller_server]: Setting transform_tolerance to 1.000000
[sync_slam_toolbox_node-17] 1669128023.955307 [14] sync_slam_: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[sync_slam_toolbox_node-17] [INFO] [1669128024.215356252] [slam_toolbox]: Node using stack size 40000000
[controller_server-11] [INFO] [1669128024.885082975] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-11] [INFO] [1669128024.932977412] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1669128024.948542862] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-11] [INFO] [1669128024.990902870] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1669128025.014107107] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-11] [INFO] [1669128025.029095026] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1669128025.034787856] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-11] [INFO] [1669128025.055895399] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1669128025.062570356] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-11] [INFO] [1669128025.082273615] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1669128025.103853248] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-11] [INFO] [1669128025.137755597] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1669128025.151418639] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-11] [INFO] [1669128025.170202278] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1669128025.170516005] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-16] [INFO] [1669128025.455790159] [lifecycle_manager_navigation]: e[34me[1mConfiguring planner_servere[0me[0m
[planner_server-12] [INFO] [1669128025.458437714] [planner_server]: Configuring
[planner_server-12] [INFO] [1669128025.458734104] [global_costmap.global_costmap]: Configuring
[planner_server-12] [INFO] [1669128025.608639232] [global_costmap.global_costmap]: Using plugin "static_layer"
[sync_slam_toolbox_node-17] 1669128025.687739 [14] sync_slam_: using network interface enx806d9716512d (udp/10.45.1.56) selected arbitrarily from: enx806d9716512d, docker0
[planner_server-12] [INFO] [1669128025.793981834] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-12] [INFO] [1669128025.820074959] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-12] [INFO] [1669128025.820404059] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-12] [INFO] [1669128025.872274870] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-12] [INFO] [1669128026.053334493] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-12] [INFO] [1669128026.063866367] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-12] [INFO] [1669128026.116045947] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-12] [INFO] [1669128026.565261301] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-12] [INFO] [1669128026.592676732] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-12] [INFO] [1669128027.069572790] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-16] [INFO] [1669128027.180177878] [lifecycle_manager_navigation]: e[34me[1mConfiguring recoveries_servere[0me[0m
[recoveries_server-13] [INFO] [1669128027.184303874] [recoveries_server]: Configuring
[recoveries_server-13] [INFO] [1669128027.568577189] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-13] [INFO] [1669128027.594847418] [recoveries_server]: Configuring spin
[sync_slam_toolbox_node-17] [INFO] [1669128027.858668783] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[recoveries_server-13] [INFO] [1669128027.943455607] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[sync_slam_toolbox_node-17] [INFO] [1669128027.972218653] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[recoveries_server-13] [INFO] [1669128028.051366922] [recoveries_server]: Configuring backup
[recoveries_server-13] [INFO] [1669128028.304414042] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-13] [INFO] [1669128028.321480163] [recoveries_server]: Configuring wait
[lifecycle_manager-16] [INFO] [1669128028.449028979] [lifecycle_manager_navigation]: e[34me[1mConfiguring bt_navigatore[0me[0m
[bt_navigator-14] [INFO] [1669128028.451846035] [bt_navigator]: Configuring
[sync_slam_toolbox_node-17] [INFO] [1669128028.530215826] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128028.428 for reason 'Unknown'
[bt_navigator-14] [INFO] [1669128029.704759310] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-14] [INFO] [1669128029.711024725] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-14] [INFO] [1669128029.738253502] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-14] [INFO] [1669128029.741294454] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[sync_slam_toolbox_node-17] [INFO] [1669128029.777323173] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128029.694 for reason 'Unknown'
[sync_slam_toolbox_node-17] [INFO] [1669128029.849016925] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128029.775 for reason 'Unknown'
[bt_navigator-14] [INFO] [1669128029.858054974] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-14] [INFO] [1669128029.861476111] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-14] [INFO] [1669128029.885639475] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-14] [INFO] [1669128029.898161044] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-14] [INFO] [1669128029.931406592] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-14] [INFO] [1669128029.932112990] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[sync_slam_toolbox_node-17] [INFO] [1669128029.941997127] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128029.846 for reason 'Unknown'
[bt_navigator-14] [INFO] [1669128029.960073438] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-14] [INFO] [1669128029.960787899] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[sync_slam_toolbox_node-17] [INFO] [1669128030.051533370] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128029.936 for reason 'Unknown'
[bt_navigator-14] [INFO] [1669128030.075794305] [bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-14] [INFO] [1669128030.076933759] [bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[sync_slam_toolbox_node-17] [INFO] [1669128030.122970035] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128030.036 for reason 'Unknown'
[bt_navigator-14] [INFO] [1669128030.175968502] [bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-14] [INFO] [1669128030.177384286] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
[lifecycle_manager-16] [INFO] [1669128030.198115217] [lifecycle_manager_navigation]: e[34me[1mConfiguring waypoint_followere[0me[0m
[waypoint_follower-15] [INFO] [1669128030.200073861] [waypoint_follower]: Configuring
[sync_slam_toolbox_node-17] [INFO] [1669128030.242206748] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128030.116 for reason 'Unknown'
[lifecycle_manager-16] [INFO] [1669128030.652820110] [lifecycle_manager_navigation]: e[34me[1mActivating controller_servere[0me[0m
[controller_server-11] [INFO] [1669128030.658125484] [controller_server]: Activating
[controller_server-11] [INFO] [1669128030.658412438] [local_costmap.local_costmap]: Activating
[controller_server-11] [INFO] [1669128030.658609636] [local_costmap.local_costmap]: Checking transform
[controller_server-11] [INFO] [1669128030.659004632] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[rosserial_node.py-3] [INFO] [1669128032.745850140] [serial_node]: open port /dev/ttyS4
[rosserial_node.py-3] [INFO] [1669128032.771970531] [serial_node]: Requesting topics...
[rosserial_node.py-3] [INFO] [1669128032.835760095] [serial_node]: Note: publish buffer size is 512 bytes
[rosserial_node.py-3] [INFO] [1669128032.852238453] [serial_node]: Init service server for rosbot_ekf/Configuration
[sync_slam_toolbox_node-17] [INFO] [1669128032.858064415] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128032.774 for reason 'Unknown'
[rosserial_node.py-3] [INFO] [1669128032.922372940] [serial_node]: Setup service server on config [rosbot_ekf/Configuration]
[sync_slam_toolbox_node-17] [INFO] [1669128033.132033282] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128033.055 for reason 'Unknown'
[controller_server-11] [INFO] [1669128033.159032587] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[sync_slam_toolbox_node-17] [INFO] [1669128033.200021133] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128033.129 for reason 'Unknown'
[controller_server-11] [INFO] [1669128035.659126501] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[sync_slam_toolbox_node-17] [INFO] [1669128035.664088252] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128035.556 for reason 'Unknown'
[controller_server-11] [INFO] [1669128036.659016455] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[sync_slam_toolbox_node-17] [INFO] [1669128036.690008627] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128036.616 for reason 'Unknown'
[sync_slam_toolbox_node-17] [INFO] [1669128036.766008329] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128036.688 for reason 'Unknown'
[controller_server-11] [INFO] [1669128037.159004317] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[rosserial_node.py-3] [INFO] [1669128037.536663931] [serial_node]: Setup publisher on pose [geometry_msgs/PoseStamped]
[sync_slam_toolbox_node-17] [INFO] [1669128037.544408231] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128037.468 for reason 'Unknown'
[rosserial_node.py-3] [INFO] [1669128037.584317822] [serial_node]: Setup publisher on velocity [geometry_msgs/Twist]
[sync_slam_toolbox_node-17] [INFO] [1669128037.614201515] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128037.542 for reason 'Unknown'
[rosserial_node.py-3] [INFO] [1669128037.624444797] [serial_node]: Setup publisher on range/fr [sensor_msgs/Range]
[rosserial_node.py-3] [INFO] [1669128037.652484836] [serial_node]: Setup publisher on range/fl [sensor_msgs/Range]
[controller_server-11] [INFO] [1669128037.659036486] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[rosserial_node.py-3] [INFO] [1669128037.678089878] [serial_node]: Setup publisher on range/rr [sensor_msgs/Range]
[sync_slam_toolbox_node-17] [INFO] [1669128037.687439312] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128037.612 for reason 'Unknown'
[rosserial_node.py-3] [INFO] [1669128037.732497329] [serial_node]: Setup publisher on range/rl [sensor_msgs/Range]
[sync_slam_toolbox_node-17] [INFO] [1669128037.764948848] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128037.683 for reason 'Unknown'
[rosserial_node.py-3] [INFO] [1669128037.799724637] [serial_node]: Setup publisher on joint_states [sensor_msgs/JointState]
[sync_slam_toolbox_node-17] [INFO] [1669128037.834775830] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128037.759 for reason 'Unknown'
[rosserial_node.py-3] [INFO] [1669128037.902185487] [serial_node]: Setup publisher on imu [sensor_msgs/Imu]
[sync_slam_toolbox_node-17] [INFO] [1669128037.943342212] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128037.828 for reason 'Unknown'
[sync_slam_toolbox_node-17] [INFO] [1669128038.008580540] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128037.901 for reason 'Unknown'
[rosserial_node.py-3] [INFO] [1669128038.055316252] [serial_node]: Setup publisher on buttons [std_msgs/UInt8]
[sync_slam_toolbox_node-17] [INFO] [1669128038.106984657] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128037.996 for reason 'Unknown'
[rosserial_node.py-3] [INFO] [1669128038.123937891] [serial_node]: Note: subscribe buffer size is 512 bytes
[sync_slam_toolbox_node-17] [INFO] [1669128038.143360458] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128038.100 for reason 'Unknown'
[controller_server-11] [INFO] [1669128038.159026072] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[rosserial_node.py-3] [INFO] [1669128038.236526692] [serial_node]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[rosserial_node.py-3] [INFO] [1669128038.330926912] [serial_node]: Setup subscriber on cmd_ser [std_msgs/UInt32]
[rosserial_node.py-3] [INFO] [1669128038.476259127] [serial_node]: 
[rosserial_node.py-3] 
[rosserial_node.py-3]  Firmware version: 0.15.0
[rosserial_node.py-3] 
[rosserial_node.py-3] 
[rosserial_node.py-3] [INFO] [1669128038.506738231] [serial_node]: Detected sensor: BNO055_ADDR_B
[rosserial_node.py-3] 
[sync_slam_toolbox_node-17] [INFO] [1669128038.538814106] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128038.463 for reason 'Unknown'
[sync_slam_toolbox_node-17] [INFO] [1669128038.613225212] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128038.536 for reason 'Unknown'
[controller_server-11] [INFO] [1669128038.660050918] [local_costmap.local_costmap]: start
[sync_slam_toolbox_node-17] [INFO] [1669128038.693375977] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128038.610 for reason 'Unknown'
[lifecycle_manager-16] [INFO] [1669128038.731346150] [lifecycle_manager_navigation]: e[34me[1mActivating planner_servere[0me[0m
[planner_server-12] [INFO] [1669128038.733255249] [planner_server]: Activating
[planner_server-12] [INFO] [1669128038.733541828] [global_costmap.global_costmap]: Activating
[planner_server-12] [INFO] [1669128038.733739989] [global_costmap.global_costmap]: Checking transform
[planner_server-12] [INFO] [1669128038.734591090] [global_costmap.global_costmap]: start
[planner_server-12] [INFO] [1669128038.746865912] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[lifecycle_manager-16] [INFO] [1669128038.752547888] [lifecycle_manager_navigation]: e[34me[1mActivating recoveries_servere[0me[0m
[lifecycle_manager-16] [INFO] [1669128038.766096918] [lifecycle_manager_navigation]: e[34me[1mActivating bt_navigatore[0me[0m
[lifecycle_manager-16] [INFO] [1669128038.778641559] [lifecycle_manager_navigation]: e[34me[1mActivating waypoint_followere[0me[0m
[recoveries_server-13] [INFO] [1669128038.755083954] [recoveries_server]: Activating
[recoveries_server-13] [INFO] [1669128038.755366909] [recoveries_server]: Activating spin
[recoveries_server-13] [INFO] [1669128038.755564994] [recoveries_server]: Activating backup
[recoveries_server-13] [INFO] [1669128038.755755480] [recoveries_server]: Activating wait
[sync_slam_toolbox_node-17] [INFO] [1669128038.761422632] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128038.686 for reason 'Unknown'
[bt_navigator-14] [INFO] [1669128038.767815006] [bt_navigator]: Activating
[waypoint_follower-15] [INFO] [1669128038.780466252] [waypoint_follower]: Activating
[lifecycle_manager-16] [INFO] [1669128038.803649146] [lifecycle_manager_navigation]: e[34me[1mManaged nodes are activee[0me[0m
[sync_slam_toolbox_node-17] [INFO] [1669128038.823778062] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128038.758 for reason 'Unknown'
**(more messages, deleted due to the character limit)**
[controller_server-11] [INFO] [1669128070.968506728] [local_costmap.local_costmap_rclcpp_node]: Message Filter dropping message: frame 'laser' at time 1669128067.345 for reason 'Unknown'
[sync_slam_toolbox_node-17] [INFO] [1669128070.984947774] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1669128070.912 for reason 'Unknown'
[planner_server-12] [INFO] [1669128070.986386437] [global_costmap.global_costmap_rclcpp_node]: Message Filter dropping message: frame 'laser' at time 1669128067.416 for reason 'Unknown'
[controller_server-11] [INFO] [1669128071.003816264] [local_costmap.local_costmap_rclcpp_node]: Message Filter dropping message: frame 'laser' at time 1669128067.366 for reason 'Unknown'
**[planner_server-12] [ERROR] [1669128071.043099539] [getCurrentPose]: Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past.  Requested time 1669128043.801577 but the earliest data is at time 1669128061.759587, when looking up transform from frame [base_link] to frame [map]**
**[planner_server-12]** 

(I had to delete some of the repeated lines form the log, because of the limit of characters allowed)

And I also attach you a couple of screenshots from Rviz2:


I have reinstalled the image and the firmware a few times, but I always have the same problem.

Thanks in advance.

Hi Itsasne

Later this week, I will try to reproduce your problem and send you a solution or ask a few additional questions :slight_smile:

Regards,
Hubert

Thanks you, Hubert. If you need something else, tell me.

Hi @Hubert_Zwiercan

Have you found any solutions?

Thanks in advace,
Itsasne

Hello @Itsasne,
we are very sorry for waiting so long for an answer.

ROS2 Foxy is of course natively installed in the OS image you are using. However, the setup we recommend is to use the Docker / Docker Compose technology. Thanks to this, among other things, we can be sure that potential problems do not result from hardware and software differences.

The first steps of running a minimal setup for ROSbot 2 PRO with Docker are described here. From the post I gather that you are interested in autonomous navigation, so I immediately recommend the rosbot-mapping and rosbot-navigation repositories.

Let me know if this solution satisfies you.

Best regards
Jan Brzyk

Hi @JanBrzyk

I tried your suggested solution with the Docker image, and it seems it is working. Thanks!!!

But, when I tried the rosbot-navigation repository I am not able to send the robot to a goal position. This error message keeps appearing in my ROSbot 2 Pro terminal:
rosbot-navigation-rosbot-1 | [ekf_node-3] Failed to meet update rate! Took 0.048599204000000000014seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.

This other error appears too in my computer terminal:
rosbot-navigation-rviz-1 | [ERROR] [1675359674.529619288] [rviz2]: Lookup would require extrapolation into the future. Requested time 1675359674.281482 but the latest data is at time 1675359674.233804, when looking up transform from frame [laser] to frame [map]

I followed all the steps that are explained in the “README.md” file. Do you know why is this happening? I will keep trying while you have the chance to answer me.

Thanks in advance,

Itsasne

Hello @Itsasne,

try to modify the .env file with nano .env inside the rosbot-mapping directory.

  1. Comment this line: RMW_IMPLEMENTATION=rmw_fastrtps_cpp
  2. Uncomment this line: # RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  3. If you use sync_with_rosbot.sh script the changes will be also done in ROSbot’s .env file. But (according to its content) you will also have to run export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp in the ROSbot terminal

Then the problem should be solved. rosbot-navigation should also behave better with this change.

Best regards
Jan Brzyk