[Solved] 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

Hello @JanBrzyk

I tried the solution that you gave me but it’s still not working. Before, I used the rosbot-mapping repositories and it was working perfectly, but now I have some problems with the transformations and the laser messages. I append you the log I get when I execute the docker compose -f compose.rosbot.yaml up in my ROSbot 2 Pro:

Attaching to rosbot-mapping-mapping-1, rosbot-mapping-microros-1, rosbot-mapping-rosbot-1, rosbot-mapping-rplidar-1
rosbot-mapping-mapping-1   | [INFO] [launch]: All log files can be found below /root/.ros/log/2023-02-07-10-42-37-424679-ubuntu-1
rosbot-mapping-mapping-1   | [INFO] [launch]: Default logging verbosity is set to INFO
rosbot-mapping-microros-1  | e[35m[1675766558.162920]e[m info     | e[34mTermiosAgentLinux.cppe[m | e[37minit                    e[m | e[32mrunning...e[m             | fd: 3
rosbot-mapping-microros-1  | e[35m[1675766558.165114]e[m info     | e[34mRoot.cpp          e[m | e[37mset_verbose_level       e[m | e[32mlogger setupe[m           | verbose_level: 4
rosbot-mapping-microros-1  | e[35m[1675766558.274900]e[m info     | e[34mRoot.cpp          e[m | e[37mcreate_client           e[m | e[32mcreatee[m                 | client_key: 0x195FDA79, session_id: 0x81
rosbot-mapping-microros-1  | e[35m[1675766558.275203]e[m info     | e[34mSessionManager.hppe[m | e[37mestablish_session       e[m | e[32msession establishede[m    | client_key: 0x195FDA79, address: 0
rosbot-mapping-mapping-1   | [INFO] [sync_slam_toolbox_node-1]: process started with pid [52]
rosbot-mapping-microros-1  | e[35m[1675766558.482812]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_participant      e[m | e[32mparticipant createde[m    | client_key: 0x195FDA79, participant_id: 0x000(1)
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766558.755664171] [slam_toolbox]: Node using stack size 40000000
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766559.099498035] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766559.105952350] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
rosbot-mapping-rplidar-1   | [INFO] [launch]: All log files can be found below /root/.ros/log/2023-02-07-10-42-39-726053-ubuntu-1
rosbot-mapping-rplidar-1   | [INFO] [launch]: Default logging verbosity is set to INFO
rosbot-mapping-rosbot-1    | file 'bringup.launch.py' was not found in the share directory of package 'rosbot_bringup' which is at '/ros2_ws/install/rosbot_bringup/share/rosbot_bringup'
rosbot-mapping-rplidar-1   | [INFO] [sllidar_node-1]: process started with pid [58]
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675766560.856127567] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675766560.911486196] [sllidar_node]: SLLidar S/N: EAEEEE8BC8E792D8B1E39BF363384C61
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675766560.911875492] [sllidar_node]: Firmware Ver: 1.27
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675766560.912078759] [sllidar_node]: Hardware Rev: 6
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675766560.964476938] [sllidar_node]: SLLidar health status : 0
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675766560.968246029] [sllidar_node]: SLLidar health status : OK.
rosbot-mapping-rosbot-1 exited with code 1
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675766561.398571341] [sllidar_node]: current scan mode: Standard, sample rate: 4 Khz, max_distance: 16.0 m, scan frequency:10.0 Hz, 
rosbot-mapping-microros-1  | e[35m[1675766562.193765]e[m info     | e[34mRoot.cpp          e[m | e[37mdelete_client           e[m | e[32mdeletee[m                 | client_key: 0x195FDA79
rosbot-mapping-microros-1  | e[35m[1675766562.194007]e[m info     | e[34mSessionManager.hppe[m | e[37mdestroy_session         e[m | e[32msession closede[m         | client_key: 0x195FDA79, address: 0
rosbot-mapping-microros-1  | e[35m[1675766562.194196]e[m info     | e[34mRoot.cpp          e[m | e[37mcreate_client           e[m | e[32mcreatee[m                 | client_key: 0x453E81E2, session_id: 0x81
rosbot-mapping-microros-1  | e[35m[1675766562.194417]e[m info     | e[34mSessionManager.hppe[m | e[37mestablish_session       e[m | e[32msession establishede[m    | client_key: 0x453E81E2, address: 0
rosbot-mapping-microros-1  | e[35m[1675766562.249301]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_participant      e[m | e[32mparticipant createde[m    | client_key: 0x453E81E2, participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.253912]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x000(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.257264]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_subscriber       e[m | e[32msubscriber createde[m     | client_key: 0x453E81E2, subscriber_id: 0x000(4), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.263685]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datareader       e[m | e[32mdatareader createde[m     | client_key: 0x453E81E2, datareader_id: 0x000(6), subscriber_id: 0x000(4)
rosbot-mapping-microros-1  | e[35m[1675766562.268770]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x001(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.273490]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x000(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.280365]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x000(5), publisher_id: 0x000(3)
rosbot-mapping-microros-1  | e[35m[1675766562.283946]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x002(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.287161]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x001(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.294483]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x001(5), publisher_id: 0x001(3)
rosbot-mapping-microros-1  | e[35m[1675766562.298946]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x003(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.302965]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x002(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.307928]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x002(5), publisher_id: 0x002(3)
rosbot-mapping-microros-1  | e[35m[1675766562.315252]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x004(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.319518]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x003(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.327524]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x003(5), publisher_id: 0x003(3)
rosbot-mapping-microros-1  | e[35m[1675766562.333521]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x005(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.336966]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x004(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.353327]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x004(5), publisher_id: 0x004(3)
rosbot-mapping-microros-1  | e[35m[1675766562.358076]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x006(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.360681]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x005(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.368239]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x005(5), publisher_id: 0x005(3)
rosbot-mapping-microros-1  | e[35m[1675766562.373771]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x007(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.376459]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x006(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.381871]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x006(5), publisher_id: 0x006(3)
rosbot-mapping-microros-1  | e[35m[1675766562.385590]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x008(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.389958]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x007(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.396726]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x007(5), publisher_id: 0x007(3)
rosbot-mapping-microros-1  | e[35m[1675766562.400952]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x453E81E2, topic_id: 0x009(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.404279]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x453E81E2, publisher_id: 0x008(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675766562.410757]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x453E81E2, datawriter_id: 0x008(5), publisher_id: 0x008(3)
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766562.944898318] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766562.120 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.040687450] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766562.910 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.141650516] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.006 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.271969461] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.105 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.366649891] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.236 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.437657655] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.335 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.543473680] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.399 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.628808691] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.502 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.729793469] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.595 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.826250100] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.693 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766563.927300188] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.793 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.029987570] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.891 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.090540975] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766563.994 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.191922477] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.067 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.285706186] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.156 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.352029986] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.257 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.453378777] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.317 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.545920450] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.416 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.612246900] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.513 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.713457996] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.577 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.808009648] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.676 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.873096775] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.774 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766564.946562713] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.839 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.047798859] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766564.905 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.135063119] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.006 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.205097403] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.104 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.306076450] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.172 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.397474212] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.269 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.464026379] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.364 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.565834016] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.429 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.659196883] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.528 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.724844364] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.627 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.792911880] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.692 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.894420729] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.757 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766565.987229457] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.857 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.052240415] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766565.954 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.129383303] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.019 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.230509859] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.088 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.314933216] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.191 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.382132633] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.281 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.483749956] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.348 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.577093313] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.446 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.643085882] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.544 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.708945318] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.608 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.811612159] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.675 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.903907586] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.773 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766566.969164709] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.871 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766567.070165722] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766566.936 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766567.165618857] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766567.034 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675766567.233129663] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675766567.132 for reason 'discarding message because the queue is full'

Thanks in advance,

Itsasne

There were big updates in the rosbot-mapping repository. Do you have the latest version of it?

Best regards
Jan Brzyk

Yes, I installed the last version yesterday and I reinstalled again today just in case something went wrong. I think the problems started with the new version, the old version worked okay.

Regards,

Itsasne

Can you paste here the content of your compose.rosbot.yaml file?

This is what I have in my robot’s compose.rosbot.yaml file:

x-net-config: &net-config
  network_mode: host
  ipc: host
  env_file: net.env

services:

  rosbot:
    image: husarion/rosbot:humble
    <<: *net-config
    command: ros2 launch rosbot_bringup bringup.launch.py
  
  microros:
    image: husarion/micro-ros-agent:humble
    <<: *net-config
    devices:
      - ${SERIAL_PORT:?err}
    command: ros2 run micro_ros_agent micro_ros_agent serial -D $SERIAL_PORT serial -b 576000 # -v6

  rplidar:
    image: husarion/rplidar:humble
    <<: *net-config
    devices:
      - ${LIDAR_SERIAL:?err}:/dev/ttyUSB0
    command: ros2 launch sllidar_ros2 sllidar_launch.py serial_baudrate:=${LIDAR_BAUDRATE:-115200}
  
  mapping:
    image: husarion/slam-toolbox:humble
    <<: *net-config
    volumes:
      - ./config/slam_toolbox.yaml:/slam_params.yaml
    command: >
      ros2 launch slam_toolbox online_sync_launch.py
        slam_params_file:=/slam_params.yaml
        use_sim_time:=False

Hello @Itsasne,

from the logs you sent above, the line:

rosbot-mapping-rosbot-1 | file 'bringup.launch.py' was not found in the share directory of package 'rosbot_bringup' which is at '/ros2_ws/install/rosbot_bringup/share/rosbot_bringup'

may be a key problem here. This may indicate an outdated image husarion/rosbot:humble in your system. Before trying again, try running the command below again in your ROSbot terminal. This should download the latest versions of the images.

docker compose -f compose.rosbot.yaml pull

Best regards
Jan Brzyk

Hi @JanBrzyk

Thanks for your fast replay. The solution you gave me worked and I am able to map with the ROSbot 2 Pro even though some laser message are still lost.

But, I am not able to obtain data or a clear image from the robot “/rosbot/camera_rgb” topic. When I execute a ros2 topic list this topic doesn’t appear, I think it isn’t launch since the begging. I have tried to modify the net.env file as you suggested me in previous chats to RMW_IMPLEMENTATION=rmw_fastrtps_cpp but nothing changes.

I send you the log from the robot when I execute in rosbot-mapping directory docker compose -f compose.rosbot.yaml in case it is useful:

Attaching to rosbot-mapping-mapping-1, rosbot-mapping-microros-1, rosbot-mapping-rosbot-1, rosbot-mapping-rplidar-1
rosbot-mapping-mapping-1   | [INFO] [launch]: All log files can be found below /root/.ros/log/2023-02-09-11-42-05-038886-ubuntu-1
rosbot-mapping-mapping-1   | [INFO] [launch]: Default logging verbosity is set to INFO
rosbot-mapping-mapping-1   | [INFO] [sync_slam_toolbox_node-1]: process started with pid [52]
rosbot-mapping-microros-1  | e[35m[1675942925.985711]e[m info     | e[34mTermiosAgentLinux.cppe[m | e[37minit                    e[m | e[32mrunning...e[m             | fd: 3
rosbot-mapping-microros-1  | e[35m[1675942925.988048]e[m info     | e[34mRoot.cpp          e[m | e[37mset_verbose_level       e[m | e[32mlogger setupe[m           | verbose_level: 4
rosbot-mapping-microros-1  | e[35m[1675942925.995978]e[m info     | e[34mRoot.cpp          e[m | e[37mcreate_client           e[m | e[32mcreatee[m                 | client_key: 0x42F357AC, session_id: 0x81
rosbot-mapping-microros-1  | e[35m[1675942925.996642]e[m info     | e[34mSessionManager.hppe[m | e[37mestablish_session       e[m | e[32msession establishede[m    | client_key: 0x42F357AC, address: 0
rosbot-mapping-microros-1  | e[35m[1675942926.153291]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_participant      e[m | e[32mparticipant createde[m    | client_key: 0x42F357AC, participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.178643]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x000(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.200118]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_subscriber       e[m | e[32msubscriber createde[m     | client_key: 0x42F357AC, subscriber_id: 0x000(4), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.212889]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datareader       e[m | e[32mdatareader createde[m     | client_key: 0x42F357AC, datareader_id: 0x000(6), subscriber_id: 0x000(4)
rosbot-mapping-microros-1  | e[35m[1675942926.218899]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x001(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.226139]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x000(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.249320]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x000(5), publisher_id: 0x000(3)
rosbot-mapping-microros-1  | e[35m[1675942926.253926]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x002(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.258507]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x001(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.276324]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x001(5), publisher_id: 0x001(3)
rosbot-mapping-microros-1  | e[35m[1675942926.283396]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x003(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.290554]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x002(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.316037]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x002(5), publisher_id: 0x002(3)
rosbot-mapping-microros-1  | e[35m[1675942926.325840]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x004(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.329797]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x003(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.351011]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x003(5), publisher_id: 0x003(3)
rosbot-mapping-microros-1  | e[35m[1675942926.356039]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x005(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.364816]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x004(3), participant_id: 0x000(1)
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942926.361588181] [slam_toolbox]: Node using stack size 40000000
rosbot-mapping-microros-1  | e[35m[1675942926.378321]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x004(5), publisher_id: 0x004(3)
rosbot-mapping-microros-1  | e[35m[1675942926.384737]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x006(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.388884]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x005(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.398320]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x005(5), publisher_id: 0x005(3)
rosbot-mapping-microros-1  | e[35m[1675942926.408626]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x007(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.415403]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x006(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.433940]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x006(5), publisher_id: 0x006(3)
rosbot-mapping-microros-1  | e[35m[1675942926.438251]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x008(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.442573]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x007(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.469318]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x007(5), publisher_id: 0x007(3)
rosbot-mapping-microros-1  | e[35m[1675942926.481708]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_topic            e[m | e[32mtopic createde[m          | client_key: 0x42F357AC, topic_id: 0x009(2), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.485034]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_publisher        e[m | e[32mpublisher createde[m      | client_key: 0x42F357AC, publisher_id: 0x008(3), participant_id: 0x000(1)
rosbot-mapping-microros-1  | e[35m[1675942926.499948]e[m info     | e[34mProxyClient.cpp   e[m | e[37mcreate_datawriter       e[m | e[32mdatawriter createde[m     | client_key: 0x42F357AC, datawriter_id: 0x008(5), publisher_id: 0x008(3)
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942926.746226595] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942926.748235070] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
rosbot-mapping-rplidar-1   | [INFO] [launch]: All log files can be found below /root/.ros/log/2023-02-09-11-42-07-278863-ubuntu-1
rosbot-mapping-rplidar-1   | [INFO] [launch]: Default logging verbosity is set to INFO
rosbot-mapping-rplidar-1   | [INFO] [sllidar_node-1]: process started with pid [67]
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675942928.324747039] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
rosbot-mapping-rosbot-1    | [INFO] [launch]: All log files can be found below /root/.ros/log/2023-02-09-11-42-08-348427-ubuntu-1
rosbot-mapping-rosbot-1    | [INFO] [launch]: Default logging verbosity is set to INFO
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675942928.406917049] [sllidar_node]: SLLidar S/N: EAEEEE8BC8E792D8B1E39BF363384C61
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675942928.407360699] [sllidar_node]: Firmware Ver: 1.27
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675942928.407570850] [sllidar_node]: Hardware Rev: 6
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675942928.465875506] [sllidar_node]: SLLidar health status : 0
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675942928.466520370] [sllidar_node]: SLLidar health status : OK.
rosbot-mapping-rplidar-1   | [sllidar_node-1] [INFO] [1675942928.960002746] [sllidar_node]: current scan mode: Standard, sample rate: 4 Khz, max_distance: 16.0 m, scan frequency:10.0 Hz, 
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942930.476388830] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942929.662 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942930.577055968] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942930.433 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942930.679339904] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942930.541 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942930.794692561] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942930.637 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942930.891867144] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942930.759 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942930.958630371] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942930.857 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.060147390] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942930.928 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.152368429] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.024 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.253864077] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.119 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.350159263] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.221 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.452118360] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.319 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.545973120] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.414 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.612554662] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.513 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.715001931] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.577 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.807248518] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.682 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.880617507] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.777 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942931.981632193] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.848 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942932.069222306] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942931.946 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942932.134607118] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942932.036 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] 
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942935.606620992] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942935.475 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942935.679455676] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942935.574 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942935.737278992] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942935.641 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] 
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942937.252841629] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942937.092 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942937.283908308] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942937.198 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942937.362101190] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942937.267 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942937.388582773] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942937.312 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [INFO] [ros2_control_node-1]: process started with pid [70]
rosbot-mapping-rosbot-1    | [INFO] [robot_state_publisher-2]: process started with pid [72]
rosbot-mapping-rosbot-1    | [INFO] [spawner-3]: process started with pid [74]
rosbot-mapping-rosbot-1    | [INFO] [ekf_node-4]: process started with pid [76]
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] 
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942938.226984306] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942938.095 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942938.292088102] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942938.193 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.299650222] [robot_state_publisher]: got segment base_link
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.323452029] [robot_state_publisher]: got segment body_link
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942938.361385905] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942938.259 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.347543246] [robot_state_publisher]: got segment camera_link
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.347808819] [robot_state_publisher]: got segment cover_link
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.348008345] [robot_state_publisher]: got segment depth
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.348210109] [robot_state_publisher]: got segment fl_range
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.372850558] [robot_state_publisher]: got segment fl_wheel_link
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942938.462745508] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942938.325 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.373073295] [robot_state_publisher]: got segment fr_range
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.379304838] [robot_state_publisher]: got segment fr_wheel_link
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.379521651] [robot_state_publisher]: got segment imu_link
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.379718278] [robot_state_publisher]: got segment laser
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.379911005] [robot_state_publisher]: got segment orbbec_astra_link
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.388614260] [robot_state_publisher]: got segment rl_range
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.388939392] [robot_state_publisher]: got segment rl_wheel_link
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942938.560048198] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942938.424 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.389229814] [robot_state_publisher]: got segment rr_range
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.389428803] [robot_state_publisher]: got segment rr_wheel_link
rosbot-mapping-rosbot-1    | [robot_state_publisher-2] [INFO] [1675942938.389619280] [robot_state_publisher]: got segment slamtec_rplidar_a2_link
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] 
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.236589680] [resource_manager]: Loading hardware 'imu' 
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942939.281866814] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.143 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942939.361234351] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.243 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942939.406103495] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.316 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942939.507076412] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.380 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.543937398] [resource_manager]: Initialize hardware 'imu' 
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.544352100] [RosbotImuSensor]: Initializing
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942939.601882919] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.470 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] 
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.803200638] [resource_manager]: Successful initialization of hardware 'imu'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.808511544] [resource_manager]: Loading hardware 'wheels' 
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.826245439] [resource_manager]: Initialize hardware 'wheels' 
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942939.834958894] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.701 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.828609983] [RosbotSystem]: Initializing
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.835769137] [RosbotSystem]: Joint 'fl_wheel_joint' found
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.843518308] [RosbotSystem]: Joint 'fr_wheel_joint' found
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942939.930493487] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.798 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.845748185] [RosbotSystem]: Joint 'rl_wheel_joint' found
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942939.845926400] [RosbotSystem]: Joint 'rr_wheel_joint' found
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942939.995343464] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.896 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942940.096296423] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942939.961 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.169679494] [resource_manager]: Successful initialization of hardware 'wheels'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.183626511] [resource_manager]: 'configure' hardware 'imu' 
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.194574831] [RosbotImuSensor]: Configuring
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.194735097] [resource_manager]: Successful 'configure' of hardware 'imu'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.194880227] [resource_manager]: 'activate' hardware 'imu' 
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.194999845] [RosbotImuSensor]: Activating
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942940.209245808] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942940.063 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [WARN] [1675942940.253397257] [RosbotImuSensor]: Feedback message from imu wasn't received yet
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942940.258423166] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942940.169 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [WARN] [1675942940.761246938] [RosbotImuSensor]: Feedback message from imu wasn't received yet
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.761492999] [resource_manager]: Successful 'activate' of hardware 'imu'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.761661402] [resource_manager]: 'configure' hardware 'wheels' 
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.761782521] [RosbotSystem]: Configuring
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.761895964] [resource_manager]: Successful 'configure' of hardware 'wheels'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.762038194] [resource_manager]: 'activate' hardware 'wheels' 
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.762156113] [RosbotSystem]: Activating
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942940.816753709] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942940.682 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942940.912152426] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942940.782 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [WARN] [1675942940.841285803] [RosbotSystem]: Feedback message from motors wasn't received yet
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942940.841682706] [resource_manager]: Successful 'activate' of hardware 'wheels'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942940.978895501] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942940.884 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.043801967] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942940.944 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.144991344] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.010 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.239547238] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.108 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.305209114] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.206 for reason 'discarding message because the queue is full'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942941.281405440] [controller_manager]: update rate is 20 Hz
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942941.353287560] [controller_manager]: RT kernel is recommended for better performance
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.371170885] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.271 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.472187697] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.337 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.576310374] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.447 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.660332787] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.547 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.702483760] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.617 for reason 'discarding message because the queue is full'
rosbot-mapping-mapping-1   | [sync_slam_toolbox_node-1] [INFO] [1675942941.803445737] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1675942941.683 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
rosbot-mapping-rosbot-1    | [ros2_control_node-1] [INFO] [1675942942.159643796] [controller_manager]: Loading controller 'joint_state_broadcaster'

Thanks again,
Itsasne

Hi @Itsasne,

if the mapping works as expected, this issue is now resolved. I’m happy that the solution worked.

The setup from the rosbot-mapping repository does not include starting the Astra depth camera. The file compose.rosbot.yaml simply does not run the Astra container in this case.
I encourage you to check out the repository where Astra is also run using Docker / Docker Compose:

Best regards
Jan Brzyk