atticus@dev-5587:~/workspace/brobot_ws  (linobrobot) 
$ ros2 launch brobot_navigation slam.launch.py rviz:=true
[INFO] [launch]: All log files can be found below /home/atticus/.ros/log/2023-10-24-23-48-01-859926-dev-5587-130150
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [130152]
[INFO] [smoother_server-2]: process started with pid [130154]
[INFO] [planner_server-3]: process started with pid [130156]
[INFO] [behavior_server-4]: process started with pid [130158]
[INFO] [bt_navigator-5]: process started with pid [130160]
[INFO] [waypoint_follower-6]: process started with pid [130162]
[INFO] [velocity_smoother-7]: process started with pid [130164]
[INFO] [lifecycle_manager-8]: process started with pid [130166]
[INFO] [async_slam_toolbox_node-9]: process started with pid [130168]
[INFO] [rviz2-10]: process started with pid [130170]
[controller_server-1] [INFO] [1698205682.622834941] [controller_server]: 
[controller_server-1] 	controller_server lifecycle node launched. 
[controller_server-1] 	Waiting on external lifecycle transitions to activate
[controller_server-1] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1698205682.631374053] [controller_server]: Creating controller server
[smoother_server-2] [INFO] [1698205682.639817662] [smoother_server]: 
[smoother_server-2] 	smoother_server lifecycle node launched. 
[smoother_server-2] 	Waiting on external lifecycle transitions to activate
[smoother_server-2] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-3] [INFO] [1698205682.640651565] [planner_server]: 
[planner_server-3] 	planner_server lifecycle node launched. 
[planner_server-3] 	Waiting on external lifecycle transitions to activate
[planner_server-3] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-6] [INFO] [1698205682.642814470] [waypoint_follower]: 
[waypoint_follower-6] 	waypoint_follower lifecycle node launched. 
[waypoint_follower-6] 	Waiting on external lifecycle transitions to activate
[waypoint_follower-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[smoother_server-2] [INFO] [1698205682.643457367] [smoother_server]: Creating smoother server
[waypoint_follower-6] [INFO] [1698205682.643679862] [waypoint_follower]: Creating
[planner_server-3] [INFO] [1698205682.646261396] [planner_server]: Creating
[async_slam_toolbox_node-9] [INFO] [1698205682.654695469] [slam_toolbox]: Node using stack size 40000000
[velocity_smoother-7] [INFO] [1698205682.657217368] [velocity_smoother]: 
[velocity_smoother-7] 	velocity_smoother lifecycle node launched. 
[velocity_smoother-7] 	Waiting on external lifecycle transitions to activate
[velocity_smoother-7] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-8] [INFO] [1698205682.658470953] [lifecycle_manager_navigation]: Creating
[bt_navigator-5] [INFO] [1698205682.663962611] [bt_navigator]: 
[bt_navigator-5] 	bt_navigator lifecycle node launched. 
[bt_navigator-5] 	Waiting on external lifecycle transitions to activate
[bt_navigator-5] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-5] [INFO] [1698205682.664112019] [bt_navigator]: Creating
[lifecycle_manager-8] [INFO] [1698205682.664110404] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[controller_server-1] [INFO] [1698205682.669198904] [local_costmap.local_costmap]: 
[controller_server-1] 	local_costmap lifecycle node launched. 
[controller_server-1] 	Waiting on external lifecycle transitions to activate
[controller_server-1] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1698205682.671159523] [local_costmap.local_costmap]: Creating Costmap
[behavior_server-4] [INFO] [1698205682.673458573] [behavior_server]: 
[behavior_server-4] 	behavior_server lifecycle node launched. 
[behavior_server-4] 	Waiting on external lifecycle transitions to activate
[behavior_server-4] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-3] [INFO] [1698205682.676061416] [global_costmap.global_costmap]: 
[planner_server-3] 	global_costmap lifecycle node launched. 
[planner_server-3] 	Waiting on external lifecycle transitions to activate
[planner_server-3] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-3] [INFO] [1698205682.677061019] [global_costmap.global_costmap]: Creating Costmap
[lifecycle_manager-8] [INFO] [1698205682.695362709] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-8] [INFO] [1698205682.695413758] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-1] [INFO] [1698205682.695899315] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1698205682.696122526] [controller_server]: getting goal checker plugins..
[controller_server-1] [INFO] [1698205682.696256396] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-1] [INFO] [1698205682.696294974] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1698205682.703317659] [local_costmap.local_costmap]: Using plugin "voxel2d_layer"
[controller_server-1] [INFO] [1698205682.707429878] [local_costmap.local_costmap]: Subscribed to Topics: scan base_scan
[controller_server-1] [INFO] [1698205682.714269509] [local_costmap.local_costmap]: Initialized plugin "voxel2d_layer"
[controller_server-1] [INFO] [1698205682.714302111] [local_costmap.local_costmap]: Using plugin "voxel3d_layer"
[controller_server-1] [INFO] [1698205682.714620565] [local_costmap.local_costmap]: Subscribed to Topics: realsense zed
[controller_server-1] [INFO] [1698205682.722620432] [local_costmap.local_costmap]: Initialized plugin "voxel3d_layer"
[controller_server-1] [INFO] [1698205682.722657452] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1698205682.723853900] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[async_slam_toolbox_node-9] [INFO] [1698205682.731968363] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-9] [INFO] [1698205682.732746594] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[controller_server-1] [INFO] [1698205682.736758531] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1698205682.738205935] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1698205682.738721976] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-1] [INFO] [1698205682.741377806] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1698205682.742337931] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1698205682.752080396] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1698205682.752525462] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1698205682.752636438] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1698205682.752991105] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1698205682.753085357] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1698205682.753210458] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1698205682.753286576] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1698205682.753539666] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1698205682.753632190] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1698205682.753845256] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1698205682.753928471] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1698205682.754132672] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1698205682.754295445] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1698205682.754583335] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1698205682.754607537] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-8] [INFO] [1698205682.762649421] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-2] [INFO] [1698205682.763130767] [smoother_server]: Configuring smoother server
[smoother_server-2] [INFO] [1698205682.772957276] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-2] [INFO] [1698205682.774069542] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[lifecycle_manager-8] [INFO] [1698205682.779574229] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-3] [INFO] [1698205682.779742241] [planner_server]: Configuring
[planner_server-3] [INFO] [1698205682.779771159] [global_costmap.global_costmap]: Configuring
[planner_server-3] [INFO] [1698205682.787894939] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-3] [INFO] [1698205682.792005848] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-3] [INFO] [1698205682.793353677] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-3] [INFO] [1698205682.793384918] [global_costmap.global_costmap]: Using plugin "voxel2d_layer"
[planner_server-3] [INFO] [1698205682.794360353] [global_costmap.global_costmap]: Subscribed to Topics: scan base_scan
[planner_server-3] [INFO] [1698205682.801631856] [global_costmap.global_costmap]: Initialized plugin "voxel2d_layer"
[planner_server-3] [INFO] [1698205682.801662877] [global_costmap.global_costmap]: Using plugin "voxel3d_layer"
[planner_server-3] [INFO] [1698205682.802340192] [global_costmap.global_costmap]: Subscribed to Topics: realsense zed
[planner_server-3] [INFO] [1698205682.808327832] [global_costmap.global_costmap]: Initialized plugin "voxel3d_layer"
[planner_server-3] [INFO] [1698205682.808357693] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-3] [INFO] [1698205682.809099450] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-3] [INFO] [1698205682.816769009] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-3] [INFO] [1698205682.816807779] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-3] [INFO] [1698205682.818109176] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-8] [INFO] [1698205682.827744286] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-4] [INFO] [1698205682.827941307] [behavior_server]: Configuring
[behavior_server-4] [INFO] [1698205682.835011603] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-4] [INFO] [1698205682.835781176] [behavior_server]: Configuring spin
[behavior_server-4] [INFO] [1698205682.840873912] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-4] [INFO] [1698205682.841504749] [behavior_server]: Configuring backup
[behavior_server-4] [INFO] [1698205682.844849978] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-4] [INFO] [1698205682.845604984] [behavior_server]: Configuring drive_on_heading
[behavior_server-4] [INFO] [1698205682.851491109] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-4] [INFO] [1698205682.852668305] [behavior_server]: Configuring wait
[lifecycle_manager-8] [INFO] [1698205682.856858134] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-5] [INFO] [1698205682.857040041] [bt_navigator]: Configuring
[lifecycle_manager-8] [INFO] [1698205682.909170341] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-6] [INFO] [1698205682.909362744] [waypoint_follower]: Configuring
[waypoint_follower-6] [INFO] [1698205682.918982548] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-8] [INFO] [1698205682.919660252] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-7] [INFO] [1698205682.919830202] [velocity_smoother]: Configuring velocity smoother
[lifecycle_manager-8] [INFO] [1698205682.924153197] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-1] [INFO] [1698205682.924303540] [controller_server]: Activating
[controller_server-1] [INFO] [1698205682.924337468] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1698205682.924353192] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1698205682.924386416] [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
[rviz2-10] [INFO] [1698205683.405472643] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1698205683.405605122] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[controller_server-1] [INFO] [1698205683.424469778] [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
[rviz2-10] [INFO] [1698205683.484452992] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1698205683.803525300] [rviz2]: Stereo is NOT SUPPORTED
[controller_server-1] [INFO] [1698205683.924440216] [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
[controller_server-1] [INFO] [1698205684.424466815] [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
[controller_server-1] [INFO] [1698205684.924437893] [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
[controller_server-1] [INFO] [1698205685.424515478] [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
[controller_server-1] [INFO] [1698205685.924445579] [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
[controller_server-1] [INFO] [1698205686.424439967] [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
[controller_server-1] [INFO] [1698205686.924436990] [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
[async_slam_toolbox_node-9] [INFO] [1698205687.354056349] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205686.936 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205687.416637130] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205687.187 for reason 'discarding message because the queue is full'
[controller_server-1] [INFO] [1698205687.424443758] [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
[async_slam_toolbox_node-9] [INFO] [1698205687.597709015] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205687.189 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205687.676050251] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205687.335 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205687.824954343] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205687.480 for reason 'discarding message because the queue is full'
[controller_server-1] [INFO] [1698205687.924437525] [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
[async_slam_toolbox_node-9] [INFO] [1698205687.964476417] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205687.627 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.130855043] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.180 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.163297216] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.234 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205688.164651027] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205687.787 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-10] [INFO] [1698205688.195623230] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.268 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.226996214] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.281 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.355377461] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.300 for reason 'discarding message because the queue is full'
[controller_server-1] [INFO] [1698205688.424436853] [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
[rviz2-10] [INFO] [1698205688.515808432] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.648 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.579299252] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.666 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.611601647] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.687 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205688.623768723] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205687.934 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-10] [INFO] [1698205688.643517675] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.756 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.675539949] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.773 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205688.705879696] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205688.081 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205688.706020993] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205688.229 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.706845438] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.833 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.706922764] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205686.929 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.739520607] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.884 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.739622712] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205686.936 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.771525474] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.921 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.803534577] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.970 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.803615655] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205687.187 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205688.835254166] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205687.995 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205688.837794199] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205688.614 for reason 'discarding message because the queue is full'
[controller_server-1] [INFO] [1698205688.924440227] [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
[async_slam_toolbox_node-9] [INFO] [1698205689.037996584] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205688.618 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-10] [INFO] [1698205689.091713894] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205687.189 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.123260031] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.067 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205689.154075290] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205688.686 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.155546653] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.094 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.155628634] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205687.335 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.187613196] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.133 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205689.201976227] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205688.834 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.218943823] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.152 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.219070895] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205687.480 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.251286141] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.164 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.283038099] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.300 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205689.361944623] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205688.978 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.379775334] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205687.627 for reason 'discarding message because the queue is full'
[controller_server-1] [INFO] [1698205689.424514121] [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
[async_slam_toolbox_node-9] [INFO] [1698205689.454459175] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205689.125 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.475567707] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205687.787 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205689.602552270] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205689.335 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.603630327] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205687.934 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.634813157] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.320 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205689.771989550] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205689.435 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.795685684] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.340 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.795758397] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205688.081 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.827077519] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.360 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.859393763] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.380 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.891507670] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.520 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205689.923507481] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.651 for reason 'discarding message because the queue is full'
[controller_server-1] [INFO] [1698205689.924474584] [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
[async_slam_toolbox_node-9] [INFO] [1698205689.972199830] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205689.580 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-10] [INFO] [1698205690.051142158] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205688.229 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205690.132676592] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205689.727 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205690.147588358] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.660 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205690.147703944] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205688.614 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205690.179668928] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.680 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-9] [INFO] [1698205690.207403748] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1698205689.887 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205690.211054867] [rviz2]: Message Filter dropping message: frame 'odom' at time 1698205688.700 for reason 'discarding message because the queue is full'
[rviz2-10] [INFO] [1698205690.211175513] [rviz2]: Message Filter dropping message: frame 'laser' at time 1698205688.618 for reason 'discarding message because the queue is full'

# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)

name: CI Industrial

on: # this determines when this workflow is run
  push:
  #   branches: [ master, melodic-devel ] #  when master or melodic-devel branch is pushed to
  pull_request:
  #   branches: [ master ] # when there is a pull request against master
  # schedule: # uncomment to run periodically
  #  - cron: '0 4 * * *' # every day at 4 AM (UTC)
  workflow_dispatch: # allow manually starting this workflow

jobs:
  industrial_ci:
    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
    runs-on: ubuntu-latest
    strategy:
      # fail-fast: false # uncomment if failing jobs should not cancel the others immediately
      matrix: # matrix is the product of entries
        # TODO add rolling once ci working
        ROS_DISTRO: [humble]
        ROS_REPO: [main]
        # exclude: # specific configuration can be excludes
        #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
        # include: # add additional configurations
        #   - {ROS_DISTRO: kinetic, ROS_REPO: testing}
    env:
      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
    steps:
      - uses: actions/checkout@v3 # clone target repository
      - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
        with:
          path: ${{ env.CCACHE_DIR }}
          # This configuration will always create a new ccache cache starting off from the previous one (if any).
          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
          # and might need some fine-tuning to match the use case
          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
          restore-keys: |
            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
      - run: |
          sudo apt update
          sudo apt install git -y --no-install-recommends
          sudo apt install build-essential -y --no-install-recommends
      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
        env: # either pass all entries explicitly
          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
          ROS_REPO: ${{ matrix.ROS_REPO }}
        # with: # or pass the full matrix as config
        #    config: ${{toJSON(matrix)}}

atticus@rospi:~/workspace/brobot_ws  (linobrobot) 
$ ros2 launch brobot_bringup bringup.launch.py 
[INFO] [launch]: All log files can be found below /home/atticus/.ros/log/2023-10-24-23-32-42-958016-rospi-16050
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ekf_node-1]: process started with pid [16084]
[INFO] [micro_ros_agent-2]: process started with pid [16086]
[INFO] [joint_state_publisher-3]: process started with pid [16088]
[INFO] [robot_state_publisher-4]: process started with pid [16090]
[INFO] [rplidar_composition-5]: process started with pid [16098]
[INFO] [v4l2_camera_node-6]: process started with pid [16100]
[micro_ros_agent-2] [1698204768.096697] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[micro_ros_agent-2] [1698204768.097803] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[rplidar_composition-5] [INFO] [1698204768.350600807] [rplidar_composition]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.0.0
[rplidar_composition-5] [INFO] [1698204768.514870195] [rplidar_composition]: RPLidar S/N: 86EDED93C0EA98C9A5E698F213334669
[rplidar_composition-5] [INFO] [1698204768.515126658] [rplidar_composition]: Firmware Ver: 1.29
[rplidar_composition-5] [INFO] [1698204768.515245770] [rplidar_composition]: Hardware Rev: 7
[micro_ros_agent-2] [1698204768.549884] info     | Root.cpp           | create_client            | create                 | client_key: 0x693D809C, session_id: 0x81
[micro_ros_agent-2] [1698204768.550094] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x693D809C, address: 0
[rplidar_composition-5] [INFO] [1698204768.568300770] [rplidar_composition]: RPLidar health status : 0
[rplidar_composition-5] [INFO] [1698204768.568565807] [rplidar_composition]: RPLidar health status : OK.
[rplidar_composition-5] [INFO] [1698204768.568678844] [rplidar_composition]: Start
[robot_state_publisher-4] [INFO] [1698204768.654930973] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-4] [INFO] [1698204768.656109214] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1698204768.656293344] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-4] [INFO] [1698204768.656389436] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-4] [INFO] [1698204768.656471306] [robot_state_publisher]: got segment front_left_wheel_link
[robot_state_publisher-4] [INFO] [1698204768.656549418] [robot_state_publisher]: got segment front_right_wheel_link
[robot_state_publisher-4] [INFO] [1698204768.656629825] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1698204768.656707547] [robot_state_publisher]: got segment laser
[robot_state_publisher-4] [INFO] [1698204768.656783862] [robot_state_publisher]: got segment rear_left_wheel_link
[robot_state_publisher-4] [INFO] [1698204768.656860769] [robot_state_publisher]: got segment rear_right_wheel_link
[micro_ros_agent-2] [1698204768.917232] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x693D809C, participant_id: 0x000(1)
[micro_ros_agent-2] [1698204768.946498] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x693D809C, topic_id: 0x000(2), participant_id: 0x000(1)
[micro_ros_agent-2] [1698204768.958887] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x693D809C, publisher_id: 0x000(3), participant_id: 0x000(1)
[micro_ros_agent-2] [1698204769.005345] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x693D809C, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[micro_ros_agent-2] [1698204769.010932] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x693D809C, topic_id: 0x001(2), participant_id: 0x000(1)
[micro_ros_agent-2] [1698204769.012467] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x693D809C, publisher_id: 0x001(3), participant_id: 0x000(1)
[micro_ros_agent-2] [1698204769.049888] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x693D809C, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[micro_ros_agent-2] [1698204769.052402] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x693D809C, topic_id: 0x002(2), participant_id: 0x000(1)
[micro_ros_agent-2] [1698204769.054124] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x693D809C, publisher_id: 0x002(3), participant_id: 0x000(1)
[micro_ros_agent-2] [1698204769.087083] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x693D809C, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[micro_ros_agent-2] [1698204769.091627] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x693D809C, topic_id: 0x003(2), participant_id: 0x000(1)
[micro_ros_agent-2] [1698204769.094700] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x693D809C, subscriber_id: 0x000(4), participant_id: 0x000(1)
[micro_ros_agent-2] [1698204769.114198] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x693D809C, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[rplidar_composition-5] [INFO] [1698204769.293970991] [rplidar_composition]: current scan mode: Sensitivity, sample rate: 8 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz, 
[v4l2_camera_node-6] [INFO] [1698204770.065763695] [v4l2_camera]: Driver: uvcvideo
[v4l2_camera_node-6] [INFO] [1698204770.066224806] [v4l2_camera]: Version: 393734
[v4l2_camera_node-6] [INFO] [1698204770.066303713] [v4l2_camera]: Device: HD Web Camera: HD Web Camera
[v4l2_camera_node-6] [INFO] [1698204770.066358343] [v4l2_camera]: Location: usb-0000:01:00.0-1.3
[v4l2_camera_node-6] [INFO] [1698204770.066406472] [v4l2_camera]: Capabilities:
[v4l2_camera_node-6] [INFO] [1698204770.066450991] [v4l2_camera]:   Read/write: NO
[v4l2_camera_node-6] [INFO] [1698204770.066494917] [v4l2_camera]:   Streaming: YES
[v4l2_camera_node-6] [INFO] [1698204770.066580658] [v4l2_camera]: Current pixel format: YUYV @ 640x480
[v4l2_camera_node-6] [INFO] [1698204770.104001861] [v4l2_camera]: Available pixel formats: 
[v4l2_camera_node-6] [INFO] [1698204770.104136917] [v4l2_camera]:   MJPG - Motion-JPEG
[v4l2_camera_node-6] [INFO] [1698204770.104189213] [v4l2_camera]:   YUYV - YUYV 4:2:2
[v4l2_camera_node-6] [INFO] [1698204770.104237157] [v4l2_camera]:   H264 - H.264
[v4l2_camera_node-6] [INFO] [1698204770.104280954] [v4l2_camera]: Available controls: 
[v4l2_camera_node-6] [INFO] [1698204770.104380139] [v4l2_camera]:   Brightness (1) = 128
[v4l2_camera_node-6] [INFO] [1698204770.104464824] [v4l2_camera]:   Contrast (1) = 128
[v4l2_camera_node-6] [INFO] [1698204770.104538602] [v4l2_camera]:   Saturation (1) = 128
[v4l2_camera_node-6] [INFO] [1698204770.109284861] [v4l2_camera]:   Hue (1) = 128
[v4l2_camera_node-6] [INFO] [1698204770.111430750] [v4l2_camera]:   White Balance, Automatic (2) = 1
[v4l2_camera_node-6] [INFO] [1698204770.156269620] [v4l2_camera]: Starting camera
[v4l2_camera_node-6] [WARN] [1698204770.659716972] [camera.v4l2_camera]: Image encoding not the same as requested output, performing possibly slow conversion: yuv422_yuy2 => rgb8
[v4l2_camera_node-6] [INFO] [1698204770.690945546] [camera.v4l2_camera]: using default calibration URL
[v4l2_camera_node-6] [INFO] [1698204770.695105676] [camera.v4l2_camera]: camera calibration URL: file:///home/atticus/.ros/camera_info/hd_web_camera:_hd_web_camera.yaml
[v4l2_camera_node-6] [ERROR] [1698204770.700434472] [camera_calibration_parsers]: Unable to open camera calibration file [/home/atticus/.ros/camera_info/hd_web_camera:_hd_web_camera.yaml]
[v4l2_camera_node-6] [WARN] [1698204770.705147694] [camera.v4l2_camera]: Camera calibration file /home/atticus/.ros/camera_info/hd_web_camera:_hd_web_camera.yaml not found
[joint_state_publisher-3] [INFO] [1698204772.308944508] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[ekf_node-1] Failed to meet update rate! Took 0.046242574000000001566seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.030351092999999999128seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.031709147999999999501seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.024375666000000000694seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.074208499999999996688seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.039180314000000000807seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.03983112899999999984seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.037464092999999996925seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.04930136999999999714seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.023771517999999998427seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.031028258999999999007seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.023331944000000000294seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.020260185seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.026968148000000000813seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.025230017999999999889seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.061565165999999997559seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.070135074000000005578seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.022240258999999998335seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.023192778000000000699seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.021348907999999999774seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.025176758999999999944seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.024650517999999999735seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.063731963000000002584seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.032079221999999997517seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.035149389000000003103seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.021454739999999999922seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.022017055000000000653seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.028622167000000000442seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.02105631499999999906seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.027064425999999999067seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.39939344399999998636seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.32330379599999997664seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.36240475900000002074seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.021504684999999999079seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.14077407399999999904seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.090429703000000000168seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.02164816699999999941seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.
[ekf_node-1] Failed to meet update rate! Took 0.037274408000000001928seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors.