[Bug]: Problems with navigation launch file

[qwease1111]

What happened?

Hi,
I' ve followed the ros2 Nav tutorial but the navigation doesn't start.
I don't know why, but It seems that ros2 is not able to see the topics related to the locobot.
If I run the command:
ros2 topic list
I see only:

/parameter_events
/rosout

The terminal print out some warnings related to rtabmap and rgbd_synch nodes (written in the log section).

I've already tried every step suggested in the Troubleshooting section but nothing works for me. I don't know how to solve the problem.

Robot Model

locobot_wx250s

Operating System

Ubuntu 20.04

ROS Distro

ROS 2 Galactic

Steps To Reproduce

Launching the command
ros2 launch interbotix_xslocobot_nav xslocobot_rtabmap.launch.py robot_model:=locobot_wx250s use_lidar:=true slam_mode:=mapping rtabmap_args:=-d

Relevant log output

[INFO] [rgbd_sync-8]: process started with pid [59030]
[INFO] [obstacles_detection-9]: process started with pid [59032]
[INFO] [point_cloud_xyzrgb-10]: process started with pid [59034]
[INFO] [rtabmap-11]: process started with pid [59036]
[point_cloud_xyzrgb-10] [INFO] [1700829459.759777557] [locobot.rtabmap.point_cloud_xyzrgb]: Approximate time sync = false
[rgbd_sync-8] [INFO] [1700829460.874041670] [locobot.rtabmap.rgbd_sync]: rgbd_sync: approx_sync = false
[rgbd_sync-8] [INFO] [1700829460.874298790] [locobot.rtabmap.rgbd_sync]: rgbd_sync: queue_size  = 10
[rgbd_sync-8] [INFO] [1700829460.874315170] [locobot.rtabmap.rgbd_sync]: rgbd_sync: qos         = 0
[rgbd_sync-8] [INFO] [1700829460.874323630] [locobot.rtabmap.rgbd_sync]: rgbd_sync: qos_camera_info = 0
[rgbd_sync-8] [INFO] [1700829460.874333478] [locobot.rtabmap.rgbd_sync]: rgbd_sync: depth_scale = 1.000000
[rgbd_sync-8] [INFO] [1700829460.874353008] [locobot.rtabmap.rgbd_sync]: rgbd_sync: decimation = 1
[rgbd_sync-8] [INFO] [1700829460.874361571] [locobot.rtabmap.rgbd_sync]: rgbd_sync: compressed_rate = 0.000000
[rgbd_sync-8] [INFO] [1700829460.904099289] [locobot.rtabmap.rgbd_sync]: 
[rgbd_sync-8] rgbd_sync subscribed to (exact sync):
[rgbd_sync-8]    /locobot/camera/color/image_raw,
[rgbd_sync-8]    /locobot/camera/aligned_depth_to_color/image_raw,
[rgbd_sync-8]    /locobot/camera/color/camera_info
[rtabmap-11] [INFO] [1700829461.131097300] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-11] [INFO] [1700829461.131397137] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-11] [INFO] [1700829461.131419391] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-11] [INFO] [1700829461.131429119] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-11] [INFO] [1700829461.131437002] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-11] [INFO] [1700829461.131444705] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-11] [INFO] [1700829461.131452312] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-11] [INFO] [1700829461.131460001] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-11] [INFO] [1700829461.131507799] [locobot.rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[rtabmap-11] [INFO] [1700829461.181582675] [locobot.rtabmap.rtabmap]: rtabmap: frame_id      = locobot/base_footprint
[rtabmap-11] [INFO] [1700829461.181620676] [locobot.rtabmap.rtabmap]: rtabmap: odom_frame_id = locobot/odom
[rtabmap-11] [INFO] [1700829461.181630144] [locobot.rtabmap.rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-11] [INFO] [1700829461.181637592] [locobot.rtabmap.rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-11] [INFO] [1700829461.181648889] [locobot.rtabmap.rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-11] [INFO] [1700829461.181661011] [locobot.rtabmap.rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-11] [INFO] [1700829461.181669556] [locobot.rtabmap.rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-11] [INFO] [1700829461.181677030] [locobot.rtabmap.rtabmap]: rtabmap: gen_scan  = false
[rtabmap-11] [INFO] [1700829461.181684500] [locobot.rtabmap.rtabmap]: rtabmap: gen_depth  = false
[rtabmap-11] [INFO] [1700829461.221017889] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.7"
[rtabmap-11] [INFO] [1700829461.221564882] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[rtabmap-11] [INFO] [1700829461.226484270] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="True"
[rtabmap-11] [INFO] [1700829461.226571613] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="False"
[rtabmap-11] [INFO] [1700829461.227416756] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[rtabmap-11] [INFO] [1700829461.229002134] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"
[rtabmap-11] [INFO] [1700829461.229415110] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"
[rtabmap-11] [INFO] [1700829461.229609912] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/LocalRadius"="5"
[rtabmap-11] [INFO] [1700829461.230071666] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[rtabmap-11] [INFO] [1700829461.241006748] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[rtabmap-11] [INFO] [1700829461.243625635] [locobot.rtabmap.rtabmap]: Update RTAB-Map parameter "RGBD/ProximityBySpace"="true--RGBD/ProximityPathMaxNeighbors" from arguments
[rtabmap-11] [WARN] [1700829461.243763895] [locobot.rtabmap.rtabmap]: Setting "Grid/Sensor" parameter to 0 (default 1) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/Sensor" to true. To suppress this warning, add <param name="Grid/Sensor" type="string" value="0"/>
[rtabmap-11] [INFO] [1700829461.243801293] [locobot.rtabmap.rtabmap]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0.
[rtabmap-11] [INFO] [1700829461.243991788] [locobot.rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-11] [INFO] [1700829461.244141032] [locobot.rtabmap.rtabmap]: rtabmap: Deleted database "/home/locobot/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-11] [INFO] [1700829461.244168880] [locobot.rtabmap.rtabmap]: rtabmap: Using database from "/home/locobot/.ros/rtabmap.db" (0 MB).
[rtabmap-11] [INFO] [1700829461.400490825] [locobot.rtabmap.rtabmap]: rtabmap: Database version = "0.20.21".
[rtabmap-11] [INFO] [1700829461.400572774] [locobot.rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-11] [INFO] [1700829461.426061684] [locobot.rtabmap.rtabmap]: Setup callbacks
[rtabmap-11] [INFO] [1700829461.426372062] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_depth = false
[rtabmap-11] [INFO] [1700829461.426391808] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_rgb = false
[rtabmap-11] [INFO] [1700829461.426401536] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-11] [INFO] [1700829461.426410654] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_rgbd = true (rgbd_cameras=1)
[rtabmap-11] [INFO] [1700829461.426420741] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_odom_info = false
[rtabmap-11] [INFO] [1700829461.426527538] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-11] [INFO] [1700829461.426539768] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan = true
[rtabmap-11] [INFO] [1700829461.426548884] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-11] [INFO] [1700829461.426556955] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-11] [INFO] [1700829461.426565694] [locobot.rtabmap.rtabmap]: rtabmap: queue_size      = 10
[rtabmap-11] [INFO] [1700829461.426575093] [locobot.rtabmap.rtabmap]: rtabmap: qos_image       = 0
[rtabmap-11] [INFO] [1700829461.426583671] [locobot.rtabmap.rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-11] [INFO] [1700829461.426591779] [locobot.rtabmap.rtabmap]: rtabmap: qos_scan        = 1
[rtabmap-11] [INFO] [1700829461.426600331] [locobot.rtabmap.rtabmap]: rtabmap: qos_odom        = 0
[rtabmap-11] [INFO] [1700829461.426609323] [locobot.rtabmap.rtabmap]: rtabmap: qos_user_data   = 0
[rtabmap-11] [INFO] [1700829461.426617696] [locobot.rtabmap.rtabmap]: rtabmap: approx_sync     = true
[rtabmap-11] [INFO] [1700829461.426635796] [locobot.rtabmap.rtabmap]: Setup rgbd callback
[rtabmap-11] [INFO] [1700829461.432083713] [locobot.rtabmap.rtabmap]: 
[rtabmap-11] rtabmap subscribed to (approx sync):
[rtabmap-11]    /locobot/rtabmap/rgbd_image \
[rtabmap-11]    /locobot/scan
[rgbd_sync-8] [WARN] [1700829465.958787414] [locobot.rtabmap.rgbd_sync]: rgbd_sync: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. 
[rgbd_sync-8] rgbd_sync subscribed to (exact sync):
[rgbd_sync-8]    /locobot/camera/color/image_raw,
[rgbd_sync-8]    /locobot/camera/aligned_depth_to_color/image_raw,
[rgbd_sync-8]    /locobot/camera/color/camera_info
[rtabmap-11] [WARN] [1700829466.448977251] [locobot.rtabmap.rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). 
[rtabmap-11] rtabmap subscribed to (approx sync):
[rtabmap-11]    /locobot/rtabmap/rgbd_image \
[rtabmap-11]    /locobot/scan
[INFO] [controller_server-12]: process started with pid [59096]
[INFO] [planner_server-13]: process started with pid [59098]
[INFO] [recoveries_server-14]: process started with pid [59100]
[INFO] [bt_navigator-15]: process started with pid [59102]
[INFO] [waypoint_follower-16]: process started with pid [59113]
[INFO] [lifecycle_manager-17]: process started with pid [59121]
[controller_server-12] [INFO] [1700829468.263506020] [controller_server]: 
[controller_server-12] 	controller_server lifecycle node launched. 
[controller_server-12] 	Waiting on external lifecycle transitions to activate
[controller_server-12] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-12] [INFO] [1700829468.298514748] [controller_server]: Creating controller server
[waypoint_follower-16] [INFO] [1700829468.331497850] [waypoint_follower]: 
[waypoint_follower-16] 	waypoint_follower lifecycle node launched. 
[waypoint_follower-16] 	Waiting on external lifecycle transitions to activate
[waypoint_follower-16] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-16] [INFO] [1700829468.336624166] [waypoint_follower]: Creating
[bt_navigator-15] [INFO] [1700829468.341270714] [bt_navigator]: 
[bt_navigator-15] 	bt_navigator lifecycle node launched. 
[bt_navigator-15] 	Waiting on external lifecycle transitions to activate
[bt_navigator-15] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-15] [INFO] [1700829468.343668201] [bt_navigator]: Creating
[controller_server-12] [INFO] [1700829468.368577520] [local_costmap.local_costmap]: 
[controller_server-12] 	local_costmap lifecycle node launched. 
[controller_server-12] 	Waiting on external lifecycle transitions to activate
[controller_server-12] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-12] [INFO] [1700829468.369631440] [local_costmap.local_costmap]: Creating Costmap
[planner_server-13] [INFO] [1700829468.383294634] [planner_server]: 
[planner_server-13] 	planner_server lifecycle node launched. 
[planner_server-13] 	Waiting on external lifecycle transitions to activate
[planner_server-13] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[recoveries_server-14] [INFO] [1700829468.385883612] [recoveries_server]: 
[recoveries_server-14] 	recoveries_server lifecycle node launched. 
[recoveries_server-14] 	Waiting on external lifecycle transitions to activate
[recoveries_server-14] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-13] [INFO] [1700829468.386234233] [planner_server]: Creating
[lifecycle_manager-17] [INFO] [1700829468.425484652] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-17] [INFO] [1700829468.434043879] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[planner_server-13] [INFO] [1700829468.454555366] [global_costmap.global_costmap]: 
[planner_server-13] 	global_costmap lifecycle node launched. 
[planner_server-13] 	Waiting on external lifecycle transitions to activate
[planner_server-13] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-13] [INFO] [1700829468.455526422] [global_costmap.global_costmap]: Creating Costmap
[rgbd_sync-8] [WARN] [1700829470.958775389] [locobot.rtabmap.rgbd_sync]: rgbd_sync: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. 
[rgbd_sync-8] rgbd_sync subscribed to (exact sync):
[rgbd_sync-8]    /locobot/camera/color/image_raw,
[rgbd_sync-8]    /locobot/camera/aligned_depth_to_color/image_raw,
[rgbd_sync-8]    /locobot/camera/color/camera_info
[rtabmap-11] [WARN] [1700829471.448966110] [locobot.rtabmap.rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). 
[rtabmap-11] rtabmap subscribed to (approx sync):
[rtabmap-11]    /locobot/rtabmap/rgbd_image \
[rtabmap-11]    /locobot/scan
[rgbd_sync-8] [WARN] [1700829475.958775263] [locobot.rtabmap.rgbd_sync]: rgbd_sync: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. 
[rgbd_sync-8] rgbd_sync subscribed to (exact sync):
[rgbd_sync-8]    /locobot/camera/color/image_raw,
[rgbd_sync-8]    /locobot/camera/aligned_depth_to_color/image_raw,
[rgbd_sync-8]    /locobot/camera/color/camera_info
[rtabmap-11] [WARN] [1700829476.448964780] [locobot.rtabmap.rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). 
[rtabmap-11] rtabmap subscribed to (approx sync):
[rtabmap-11]    /locobot/rtabmap/rgbd_image \
[rtabmap-11]    /locobot/scan

Additional Info

When I made the ros2 installation on the locobot, the default control.launch.py file considered a wrong type of lidar (a2m12). I've change the default value with the correct one in my locobot (a2m8). Before this modification, even the lidar didn't work. After that, it started working.
I don't know if there can be other possible problems related to the default launch files settings.

[qwease1111]

I've done again the command:

ros2 daemon stop
ros2 daemon start 

Now there are some topics:

/locobot/joint_states
/locobot/mobile_base/tf
/locobot/robot_description
/locobot/scan
/parameter_events
/rosout
/tf
/tf_static

However, the terminal print out the following logs:

[realsense2_camera_node-5] [WARN] [1700831445.550888088] [locobot.camera.camera]: XXX Hardware Notification:Depth stream start failure,1.70083e+12,Error,Hardware Error
[realsense2_camera_node-5] [WARN] [1700831445.550975672] [locobot.camera.camera]: Hardware Notification:Depth stream start failure,1.70083e+12,Error,Hardware Error
[INFO] [camera_tilt-7]: process has finished cleanly [pid 3571]
[INFO] [rgbd_sync-8]: process started with pid [3662]
[INFO] [obstacles_detection-9]: process started with pid [3664]
[INFO] [point_cloud_xyzrgb-10]: process started with pid [3666]
[INFO] [rtabmap-11]: process started with pid [3668]
[rgbd_sync-8] [INFO] [1700831458.850665884] [locobot.rtabmap.rgbd_sync]: rgbd_sync: approx_sync = false
[rgbd_sync-8] [INFO] [1700831458.850849636] [locobot.rtabmap.rgbd_sync]: rgbd_sync: queue_size  = 10
[rgbd_sync-8] [INFO] [1700831458.850862780] [locobot.rtabmap.rgbd_sync]: rgbd_sync: qos         = 0
[rgbd_sync-8] [INFO] [1700831458.850870346] [locobot.rtabmap.rgbd_sync]: rgbd_sync: qos_camera_info = 0
[rgbd_sync-8] [INFO] [1700831458.850878569] [locobot.rtabmap.rgbd_sync]: rgbd_sync: depth_scale = 1.000000
[rgbd_sync-8] [INFO] [1700831458.850892892] [locobot.rtabmap.rgbd_sync]: rgbd_sync: decimation = 1
[rgbd_sync-8] [INFO] [1700831458.850900174] [locobot.rtabmap.rgbd_sync]: rgbd_sync: compressed_rate = 0.000000
[rtabmap-11] [INFO] [1700831458.855988295] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-11] [INFO] [1700831458.856206430] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-11] [INFO] [1700831458.856222409] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-11] [INFO] [1700831458.856230457] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-11] [INFO] [1700831458.856237692] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-11] [INFO] [1700831458.856244461] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-11] [INFO] [1700831458.856251284] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-11] [INFO] [1700831458.856258280] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-11] [INFO] [1700831458.856276882] [locobot.rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[rgbd_sync-8] [INFO] [1700831458.860643967] [locobot.rtabmap.rgbd_sync]: 
[rgbd_sync-8] rgbd_sync subscribed to (exact sync):
[rgbd_sync-8]    /locobot/camera/color/image_raw,
[rgbd_sync-8]    /locobot/camera/aligned_depth_to_color/image_raw,
[rgbd_sync-8]    /locobot/camera/color/camera_info
[rtabmap-11] [INFO] [1700831458.894243512] [locobot.rtabmap.rtabmap]: rtabmap: frame_id      = locobot/base_footprint
[rtabmap-11] [INFO] [1700831458.894290439] [locobot.rtabmap.rtabmap]: rtabmap: odom_frame_id = locobot/odom
[rtabmap-11] [INFO] [1700831458.894304050] [locobot.rtabmap.rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-11] [INFO] [1700831458.894314517] [locobot.rtabmap.rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-11] [INFO] [1700831458.894324930] [locobot.rtabmap.rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-11] [INFO] [1700831458.894340347] [locobot.rtabmap.rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-11] [INFO] [1700831458.894352607] [locobot.rtabmap.rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-11] [INFO] [1700831458.894362211] [locobot.rtabmap.rtabmap]: rtabmap: gen_scan  = false
[rtabmap-11] [INFO] [1700831458.894371248] [locobot.rtabmap.rtabmap]: rtabmap: gen_depth  = false
[rtabmap-11] [INFO] [1700831458.903408675] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.7"
[rtabmap-11] [INFO] [1700831458.903521080] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[rtabmap-11] [INFO] [1700831458.904389009] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="True"
[rtabmap-11] [INFO] [1700831458.904432691] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="False"
[rtabmap-11] [INFO] [1700831458.904599556] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[rtabmap-11] [INFO] [1700831458.904934395] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"
[rtabmap-11] [INFO] [1700831458.906665704] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"
[rtabmap-11] [INFO] [1700831458.906864256] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/LocalRadius"="5"
[rtabmap-11] [INFO] [1700831458.907198852] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[rtabmap-11] [INFO] [1700831458.908029655] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[rtabmap-11] [INFO] [1700831458.910584986] [locobot.rtabmap.rtabmap]: Update RTAB-Map parameter "RGBD/ProximityBySpace"="true--RGBD/ProximityPathMaxNeighbors" from arguments
[rtabmap-11] [WARN] [1700831458.910701317] [locobot.rtabmap.rtabmap]: Setting "Grid/Sensor" parameter to 0 (default 1) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/Sensor" to true. To suppress this warning, add <param name="Grid/Sensor" type="string" value="0"/>
[rtabmap-11] [INFO] [1700831458.910739284] [locobot.rtabmap.rtabmap]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0.
[rtabmap-11] [INFO] [1700831458.910946852] [locobot.rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-11] [INFO] [1700831458.912703763] [locobot.rtabmap.rtabmap]: rtabmap: Deleted database "/home/locobot/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-11] [INFO] [1700831458.912769754] [locobot.rtabmap.rtabmap]: rtabmap: Using database from "/home/locobot/.ros/rtabmap.db" (0 MB).
[point_cloud_xyzrgb-10] [INFO] [1700831458.925359254] [locobot.rtabmap.point_cloud_xyzrgb]: Approximate time sync = false
[rtabmap-11] [INFO] [1700831458.995905937] [locobot.rtabmap.rtabmap]: rtabmap: Database version = "0.20.21".
[rtabmap-11] [INFO] [1700831458.995989556] [locobot.rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-11] [INFO] [1700831459.004894232] [locobot.rtabmap.rtabmap]: Setup callbacks
[rtabmap-11] [INFO] [1700831459.004973276] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_depth = false
[rtabmap-11] [INFO] [1700831459.004990517] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_rgb = false
[rtabmap-11] [INFO] [1700831459.005000463] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-11] [INFO] [1700831459.005009148] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_rgbd = true (rgbd_cameras=1)
[rtabmap-11] [INFO] [1700831459.005018572] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_odom_info = false
[rtabmap-11] [INFO] [1700831459.005027548] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-11] [INFO] [1700831459.005035761] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan = true
[rtabmap-11] [INFO] [1700831459.005044054] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-11] [INFO] [1700831459.005052311] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-11] [INFO] [1700831459.005061428] [locobot.rtabmap.rtabmap]: rtabmap: queue_size      = 10
[rtabmap-11] [INFO] [1700831459.005070143] [locobot.rtabmap.rtabmap]: rtabmap: qos_image       = 0
[rtabmap-11] [INFO] [1700831459.005078943] [locobot.rtabmap.rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-11] [INFO] [1700831459.005087241] [locobot.rtabmap.rtabmap]: rtabmap: qos_scan        = 1
[rtabmap-11] [INFO] [1700831459.005095523] [locobot.rtabmap.rtabmap]: rtabmap: qos_odom        = 0
[rtabmap-11] [INFO] [1700831459.005103772] [locobot.rtabmap.rtabmap]: rtabmap: qos_user_data   = 0
[rtabmap-11] [INFO] [1700831459.005112289] [locobot.rtabmap.rtabmap]: rtabmap: approx_sync     = true
[rtabmap-11] [INFO] [1700831459.005405851] [locobot.rtabmap.rtabmap]: Setup rgbd callback
[rtabmap-11] [INFO] [1700831459.010293339] [locobot.rtabmap.rtabmap]: 
[rtabmap-11] rtabmap subscribed to (approx sync):
[rtabmap-11]    /locobot/rtabmap/rgbd_image \
[rtabmap-11]    /locobot/scan
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] [ WARN] (2023-11-24 07:11:00.634) MsgConversion.cpp:1755::getTransform() (can transform locobot/odom -> locobot/base_footprint?) Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist. canTransform returned after 0.202281 timeout was 0.2. (wait_for_transform=0.200000)

[qwease1111]

Update:
It seems that there are no transform between "locobot/odometry" and both "locobot/base_link" and "locobot/base_footprint" frames. If I create a static broadcaster with {traslation= 0 0 0; rotation= 0 0 0} for both "locobot/base_link" and "locobot/base_footprint" the navigation starts but the robot is not able to move