FishBot-Nav2导航测试失败

东篱青蛙

FishBot基础版*1台
装有Ubuntu22.04和ROS2的Linux台式机
使用的是ubuntu22，ROS2版本是humble，在烧录成功之后直接按照网站上的步骤进行操作：

FishBot上手组装教程
配置助手介绍与下载
主控板固件烧录与配置
使用ROS2键盘控制FishBot
雷达固件烧录及配置
雷达驱动及建图测试
FishBot-Nav2导航测试

1-6都是正常的，在7的时候点击Rviz2工具栏——2D Pose Estimate无反应，也没有出现雷达云。已尝试重启和重新编译无效。
此时雷达提示：
[WARN] [1712046720.974738211] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
在启动rviz命令窗口，大量提示：
[component_container_isolated-1] [INFO] [1712046724.947552811] [lifecycle_manager_navigation]: Configuring bt_navigator
[component_container_isolated-1] [INFO] [1712046724.950780208] [bt_navigator]: Configuring
[rviz2-2] [INFO] [1712046724.989733153] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046723.724 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1712046725.117862850] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046723.849 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1712046725.245624753] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046723.974 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1712046725.374071627] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.099 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1712046725.478609889] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.474 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1712046725.502430156] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.224 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1712046725.600440830] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.599 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1712046725.633008449] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.349 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1712046725.738828682] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.724 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1712046725.758374833] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.474 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1712046725.851122850] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.849 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

另外，尝试将fishbot_navigation2的“use_sim_time”设置为“true”后，2D Pose Estimate无反应，雷达没有报错，rviz命令窗口大量提示：
[rviz2-2] [INFO] [1712047241.616013559] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.357 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1712047241.643396923] [rviz2]: Message Filter dropping message: frame 'odom' at time 1712047236.908 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1712047241.732863630] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.482 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1712047241.763628341] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.482 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1712047241.858179380] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.607 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1712047241.905578447] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.607 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1712047241.911853180] [rviz2]: Message Filter dropping message: frame 'odom' at time 1712047237.302 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1712047241.992214971] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.732 for reason 'discarding message because the queue is full'

小鱼

@415808688 在 FishBot-Nav2导航测试失败中说：

[WARN] [1712046720.974738211] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

这个没事，贴一下tf图看看

东篱青蛙

@小鱼鱼哥，我的问题应该是电脑引起的，用的是台式机外接无线网卡（估计可能是无线网卡的适配问题）。换了一台笔记本电脑（内置无线网卡）后就可以了。
另外，想请教一下：在开启nav2进行导航后，命令窗口会出现下面的信息，是什么原因呢？谢谢！
[component_container_isolated-1] [WARN] [1712563380.078661090] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1712563380.109913347] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_frame' at time 1712563379.809 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1712563380.115683296] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_frame' at time 1712563379.809 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

小鱼

@415808688 请阅读并按照模板单独发帖提问，这属于另外一个问题了

https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答