Humble Navigation simulation dropping message error

[WonsokYoo]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • [v ] Burger
   • Waffle
   • Waffle Pi

2. Which ROS is working with TurtleBot3?

   • ROS 1 Kinetic Kame
   • ROS 1 Melodic Morenia
   • ROS 1 Noetic Ninjemys
   • ROS 2 Dashing Diademata
   • ROS 2 Eloquent Elusor
   • ROS 2 Foxy Fitzroy
   • [v ] etc (ROS 2 Humble Hawksbill)

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • Intel Joule 570x
   • Raspberry Pi 3B+
   • Raspberry Pi 4
   • [v ] etc (only doing simulation)

4. Which OS you installed on SBC?

   • Raspbian distributed by ROBOTIS
   • Ubuntu MATE (16.04/18.04/20.04)
   • Ubuntu preinstalled server (18.04/20.04)
   • [v ] etc (only doing simulation)

5. Which OS you installed on Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • Ubuntu 18.04 LTS (Bionic Beaver)
   • Ubuntu 20.04 LTS (Focal Fossa)
   • Windows 10
   • MAC OS X (Specify version)
   • [v ] etc (Ubuntu 22.04 docker container)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   • ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
   • ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml
   • Of course I did 'export TURTLEBOT3_MODEL=burger' on each terminal.

8. Copy and Paste the error messages on terminal.

   • [component_container_isolated-1] [INFO] [1658203409.501428806] [controller_server]: Activating
     [component_container_isolated-1] [INFO] [1658203409.501464578] [local_costmap.local_costmap]: Activating
     [component_container_isolated-1] [INFO] [1658203409.501513153] [local_costmap.local_costmap]: Checking transform
     [component_container_isolated-1] [INFO] [1658203409.501609676] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
     [component_container_isolated-1] [INFO] [1658203410.001659488] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
     [component_container_isolated-1] [INFO] [1658203410.501710559] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
     [component_container_isolated-1] [INFO] [1658203411.001673960] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
     [rviz2-2] [INFO] [1658203411.046314441] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 5105.405 for reason 'discarding message because the queue is full'
     [rviz2-2] [INFO] [1658203411.238243445] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 5105.605 for reason 'discarding message because the queue is full'
     [rviz2-2] [INFO] [1658203411.431021439] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 5105.805 for reason 'discarding message because the queue is full'
     [component_container_isolated-1] [INFO] [1658203411.501656674] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
     [rviz2-2] [INFO] [1658203411.654006711] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 5106.005 for reason 'discarding message because the queue is full'
     [rviz2-2] [INFO] [1658203411.845889254] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 5106.205 for reason 'discarding message because the queue is full'
     [component_container_isolated-1] [INFO] [1658203412.001686864] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
     [rviz2-2] [INFO] [1658203412.037697341] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 5106.405 for reason 'discarding message because the queue is full'

9. Please describe the issue in detail.

   • I already built the map using 'turtlebot3_cartographer' packages in simulation mode. Gazebo works fine but when I launch as follows:
   • ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml
   • It fails with dropping messages.

[WonsokYoo]

I'm not deeply understanding but the above problem is solved referencing #884
As @johnpenright mentioned, I modified robot param file as follows:

robot_model_type: "differential"

to

robot_model_type: "nav2_amcl::DifferentialMotionModel"

I'm not sure why I have to do this because I used 'humble-devel' branch.

Is this ROBOTIS's official (future) fix? or just a trick?

[HuzaifaOsal]

have you found the solution ?