Budget: 6000 UAH Deadline: 3 days
Hello. I have thoroughly familiarized myself with your issue regarding the Webots and ROS2 integration for mapping using SLAM algorithms. The lack of data from the lidar and odometry sensors in the RTAB Map or slam toolbox nodes is a classic problem of breaking the transformation tree or discrepancies in the Quality of Service (QoS) profiles. I am ready to take on this project to analyze your launch files and the configuration of the bridge between the simulator and ROS2 to restore the correct publication of the scan and odom topics. After setting up the correct frames, the algorithm will start correctly receiving the point cloud and building an accurate map of the environment. I can complete the work in approximately a few days after gaining access to the source code. Please let me know which version of ROS2 you are using, Humble or Foxy, and whether the Rviz2 visualizer is currently running along with the simulation.
