Can no longer run SLAM after Create 3 firmware updates

[languyen14507]

Please provide the following information:

• OS: (e.g. Ubuntu 20.04) Ubuntu 20.04
• ROS Distro: (e.g. Galactic) Galactic
• Built from source or installed: installed
• Package version: (if from repository, give version from sudo dpkg -s ros-$ROS_VERSION-turtlebot4-PACKAGE_WITH_ISSUE, if from source, give commit hash)

Expected behaviour
After updating Create 3 firmware to G.4.5, then G.5.1, I tried to run SLAM by:
Opened one terminal and ran "ros2 launch turtlebot4_navigation slam_sync.launch.py"
Opened another terminal and ran "ros2 launch turtlebot4_viz view_robot.launch.py"

Expected to see a map of the turtlebot surroundings on rviz view.

Actual behaviour
Terminal 1 showed these errors:
[sync_slam_toolbox_node-1] [INFO] [1689964833.805125697] [slam_toolbox]: Message Filter dropping message: frame 'rplidar_link' at time 1650547252.230 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[sync_slam_toolbox_node-1] [INFO] [1689964833.953461740] [slam_toolbox]: Message Filter dropping message: frame 'rplidar_link' at time 1650547252.377 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

Terminal 2 showed these warnings:
[rviz2-1] Warning: Invalid frame ID "wheel_drop_right" passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_left" passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp

The rviz view looks empty like this:

To Reproduce
Provide the steps to reproduce:

1. run something
2. launch something else
3. see the error

Other notes
I used to run SLAM and Navigation successfully before the Create 3 firmware updates as suggested by @roni-kreinin and @hilary-luo

[teufelweich]

This seems to be related to the CPU usage issue from the Create3 Base iRobotEducation/create3_docs#381 and results in a similar behavior as we experience in #134

@languyen14507 why did you close this issue? have you resolved the problem?

[languyen14507]

@teufelweich
I still have the problem and did not close the issue myself.

[hilary-luo]

@languyen14507 I have not responded to this ticket because the status shows that you closed it as completed. I will reopen it and take a look.

[hilary-luo]

@languyen14507 Can you clarify if this issue is different from #218 ? If it is the same issue then I will re-close this one and you can continue responding on that one. Or, if the other issue is resolved then please close that ticket.

[languyen14507]

I have decided to upgrade to Humble, therefore I am closing this issue.