Robot: Unitree Go2
Software: ROS 2 Foxy
Navigation Stack: Nav2 (map_nav.launch.py
)
Issue Summary
When launching map navigation (map_nav.launch.py
), AMCL fails to process LiDAR data. The console repeatedly shows:
[amcl-2] [INFO] [1759320184.032145958] [amcl_rclcpp_node]:
Message Filter dropping message: frame 'lidar_link' at time 1759320074.145 for reason 'Unknown'
What Has Been Tried
- Verified that
lidar_link
is defined correctly in the URDF. - Confirmed
/go2_unit_38798/scan
is publishing LiDAR data. - Checked AMCL parameters:
base_frame_id: base_link
odom_frame_id: odom
global_frame_id: map
scan_topic: /go2_unit_38798/scan
transform_tolerance: 1.0
Please can someone help me to debug this error!