[ROS2] [Turtlebot3] Wrong Visualization in RViz and Nav2 doesn't work

[Niitoge]

Required Info:

• Operating System:
  • Ubuntu 20.04.3
• Installation type:
  • binaries (apt)
• ROS Version
  • ROS2 Foxy Fitzroy
• Version or commit hash:
  • Patch Release 6.1 (commit ID 3934568d4c50aebe186d7bac101e5b4686f16ce2)
• Laser unit:
  • 360 Laser Distance Sensor LDS-01 (ROBOTIS/Turtlebot3)

Steps to reproduce issue

• Installed ROS2 according to the setup by ROBOTIS
• Updated and upgrade everything (to get the Foxy Patch 6.1 because Foxy 6.0 had issues with some topics in RViz)
• Install Nav2 via apt following the tutorial on the Nav2 Wiki
• Install the slam_toolbox via apt following the tutorial on the Nav2 Wiki
• Commands entered:

source /opt/ros/foxy/setup.bash # in every terminal
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_bringup robot.launch.py 
ros2 launch nav2_bringup navigation_launch.py
ros2 launch slam_toolbox online_async_launch.py
ros2 launch nav2_bringup rviz_launch.py    # from remote PC

Expected behavior

Getting a live map feed as well as odometry and tf data in RViz2 as described in the README and the Wiki.

Actual behavior

When entering:

ros2 launch nav2_bringup rviz_launch.py

I receive this all the time

And the RViz looks like this:

Although the map updates, the visualization is wrong and Nav2 doesn't seem to work (see RViz pic below left)

Additional information

When entering:

ros2 launch nav2_bringup navigation_launch.py

I receive this messages all the time:

And when entering:

ros2 launch slam_toolbox online_async_launch.py
# or
ros2 launch slam_toolbox online_sync_launch.py

I hope you can help me, thanks in advance :)

ros-navigation/navigation2#2651

[SteveMacenski]

Please don't cross post tickets, closing