Simulation example failed on Ubuntu20.04

[dzywater]

On ubuntu 20.04, Simulation example failed: the robot in gazebo cannot be in control.

Rviz terminal shows:
[ WARN] [1642574340.231446324]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_3 at time 247.976000 according to authority unknown_publisher
[ WARN] [1642574340.231461790]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_4 at time 247.976000 according to authority unknown_publisher
[ WARN] [1642574340.231479710]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_5 at time 247.976000 according to authority unknown_publisher
[ WARN] [1642574340.340303253]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_0 at time 248.076000 according to authority unknown_publisher
[ WARN] [1642574340.340439294]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_1 at time 248.076000 according to authority unknown_publisher

gazebo terminal shows:
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_3 at time 255.476000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_4 at time 255.476000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_5 at time 255.476000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame firefly/rotor_0 at time 255.576000 according to authority unknown_publisher

Notes: On ubuntu18.04, it works.

[dzywater]

ewok_simulation\urdf\turtlebot_gazebo.urdf.xacro
use
${prefix}/camera_depth_optical_frame
instead of
camera_depth_optical_frame

[dzywater]

use tf2 instead of tf.
(1)in ewok_simulation\package.xml
use
<build_depend>tf2_eigen</build_depend>
<build_depend>tf2_ros</build_depend>
instead of
<build_depend>tf</build_depend>
<build_depend>tf_conversions</build_depend>
<build_depend>eigen_conversions</build_depend>

(2)update ewok_simulation\src\trajectory_replanning_example.cpp

trajectory_replanning_example.cpp.txt