Nav2 map frame does not exist

[mbergman257]

Please provide the following information:

• OS: Ubuntu 20.04
• ROS Distro: Galactic
• Built from source or installed: Installed
• Package version: ros-galactic-turtlebot4-navigation 0.1.2-1focal.20221208.082815
• TurtleBot4 Lite : G.5.2
• Fast DDS
• Discovery Server

Expected behaviour
Use nav2 stack to load saved map.yaml and launch navigation on Turtlebot4 lite

Actual behaviour
Map frame does not exist

To Reproduce
Provide the steps to reproduce:

1. Successfully generate and save map with slam_sync (ref: https://turtlebot.github.io/turtlebot4-user-manual/tutorials/generate_map.html) Turned off TB4...
2. Turn on Turtlebot4
3. ssh into rpi, run: ros2 launch turtlebot4_navigation nav_bringup.launch.py slam:=off localization:=true map:=/home/ubuntu/lab.yaml (ref: https://turtlebot.github.io/turtlebot4-user-manual/tutorials/navigation.html)
4. Open desktop terminal and run: ros2 launch turtlebot4_viz view_robot.launch.py

Errors

• Nav terminal: gets stuck at [controller_server-5] [INFO] [1677764723.699949411] [local_costmap.local_costmap]: Creating Costmap
• RVIZ Terminal: [rviz2-1] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [rviz2-1] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
• RVIZ Window: see image above
  Also tried in new terminal, which allows rviz to shows the map but does not update or show anything else (ref: ros2 launch turtlebot4_navigation nav_bringup.launch.py slam:=off localization:=false map:=office.yaml, stuck at creating map #40):
  ros2 lifecycle set map_server configure
ros2 lifecycle set map_server activate

Other notes
I've tried a lot of things, but I'm not sure what to do now. Looks like the map needs to be published and a tf between map and base_link is needed? Thanks-

• No other ROS devices on network
• Applied this change: ntp config create3 NTP config for Create 3 #216
• Using fastrtps fastdds discovery server (ref: https://turtlebot.github.io/turtlebot4-user-manual/setup/discovery_server.html)
• All topics seem to be available on desktop.
  
• tf tree (cropped)

[hilary-luo]

After launching localization did you set the 2d Pose Estimate? If you are not sure what I am referring to see this section of the navigation tutorial.

[mbergman257]

facepalm yes I forgot to do this step. I should go to bed. Thanks!