Unable to perform Mapping

[manu042k]

Robot Model

Turtlebot4 Lite

ROS distro

Jazzy

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Built from Source

Package version

ROS :Jazzy
OS : Ubuntu 24

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

perform Mapping

Actual behaviour

no map topic and tf data is getting published

Error messages

No response

To Reproduce

1. ros2 launch turtlebot4_bringup lite.launch.py
2. ros2 launch turtlebot4_navigation slam.launch.py
3. ros2 launch turtlebot4_viz view_navigation.launch.py

I have attacked logs also.

lite.txt
messages.txt
rviz.txt
slam.txt

Other notes

No response

[manu042k]

@RustyCPR and @smatarCPR
can you look into this ?

[slowrunner]

@manu042k (I’m not CPR, just interested new TB4 user)

Is your republisher working fully in simple discovery mode? Mine was republishing topics but not actions and services. Started working when I switched to Discovery Server mode.

Did you switch to base_link frame and see /scan topic? And to rplidar_link and see scan?
When you drive the TB4 do you see /odom pose changing appropriately? Drive about a meter and pose x shows the meter change?

Are robot_state and joint_state running with no errors?