Map timestamp always 0.0 when localizing about slam_toolbox HOT 3 CLOSED

https://github.com/SteveMacenski/slam_toolbox/blob/ros2/src/slam_toolbox_common.cpp#L645C27-L645C38

It appears that we timestamp it with the last laser reading, so if none have come in yet for the first after deserialization, then I can see how 0 happens. Any suggestions? :-)

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There must be something broken in the TF tree.

The /map, /odom, and /top_laser_controller/out are publishing correctly. Also, I get a TF with ros2 run tf2_ros tf2_echo odom base_link. What I don't get is the TF from ros2 run tf2_ros tf2_echo map odom.

The lidar messages are not consumed, since I get [slam_toolbox]: Message Filter dropping message: frame 'top_laser_frame' at time XX.XXX for reason 'discarding message because the queue is full'. If I've understood correctly, this is what's causing the map to be initially timestamped with 0, but I can't understand what's the origin of the missing TF 🤔

EDIT: I'm sorry but I'm new to ROS2 and slam_toolbox, so it is all a bit confusing to me

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Ok, I've found the error. The timestamp of the odometry was wrong. Once fixed, slam_toolbox worked properly 🚀

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