rviz2 not receiving map (tutorial example)

[PVBrodersen]

I have been following along with this tutorial, and gotten to the section regarding visualization of costmaps. However, at this point, I run into 2 issues:

1. Rviz2 not receiving costmaps
   
   As the section suggests, rviz2 is unable to receive any maps from the respective costmaps topics, even though I can confirm that data is published using topic echo:

"
ros2 topic echo /global_costmap/costmap
header:
stamp:
sec: 1702383893
nanosec: 146251016
frame_id: map
info:
map_load_time:
sec: 0
nanosec: 0
resolution: 0.05000000074505806
width: 44
height: 36
origin:
position:
x: -1.1546438506086725
y: -0.6746192693179669
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
"

2. Filter dropping messages

After running "display.launch.py" it opens rviz2 and gazebo as expected, but after sometime the terminal starts outputting the following:

[rviz2-5] [INFO] [1702383769.153491354] [rviz2]: Message Filter dropping message: frame 'map' at time 1702383754.146 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1702383770.177533838] [rviz2]: Message Filter dropping message: frame 'map' at time 1702383755.146 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1702383772.160809140] [rviz2]: Message Filter dropping message: frame 'map' at time 1702383757.146 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1702383774.177586825] [rviz2]: Message Filter dropping message: frame 'map' at time 1702383758.146 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1702383775.168952119] [rviz2]: Message Filter dropping message: frame 'map' at time 1702383759.146 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1702383776.161561609] [rviz2]: Message Filter dropping message: frame 'map' at time 1702383761.146 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1702383777.153654436] [rviz2]: Message Filter dropping message: frame 'map' at time 1702383763.146 for reason 'discarding message because the queue is full'

Which is also represented by a drifting map frame in rviz i.e. the frame starts moving up the z-axis.

Any suggestions as to what this might be caused by?

[PVBrodersen]

To add to this post: I got to the point where I decided to simply clone the repo, but still run into the same issues.

[kevinpretell]

@PVBrodersen hi!

I'm facing the same problem too.
which ros2 distro are you using?

[YinpeiDai]

Any update on this?

[arad2456]

I am also having this problem. I use humble

[jmk9]

I also can't solve this problem.

[PVBrodersen]

@PVBrodersen hi!

I'm facing the same problem too. which ros2 distro are you using?

I am running ROS2 Humble on Ubuntu 22.04 LTS

[PVBrodersen]

However, after reading into this issue a bit more, I suspect that it may be due to the fact that the default parameter of navigation.launch.py do NOT contain the parameters specified for nav2_costmap_2d as otherwise stated in the guide. I will keep you posted if modifying this changes anything.

[PVBrodersen]

However, after reading into this issue a bit more, I suspect that it may be due to the fact that the default parameter of navigation.launch.py do NOT contain the parameters specified for nav2_costmap_2d as otherwise stated in the guide. I will keep you posted if modifying this changes anything.

Sadly a reconfiguration did not seem to fix the issue

[PVBrodersen]

OK, after looking around, I have found that this issue is the same as described in another thread on the github: #64

Essentially, the joint state publisher needs to be setup with the sim_time parameter.

After doing this, and launching everything from the same launch file I have gotten my solution to work.