Fixed frame not found in Rviz while running example for teleoperation.

[MARIANOCEREDA]

@hidmic FYI.

Bug description

When running the teleoperation simulation example ( with ROS2 Humble ), rviz is launched but the fixed frame ( map ) is not found. Then, it is not possible to teleoperate.

Platform (please complete the following information):

• Running on docker development container ( as indicated in GETTING_STARTED.md )
• ROS version: Humble / Iron

How to reproduce

Running in the development container with ROS2 Humble, execute the following ( as mentioned in GETTING_STARTED.md ):

source /opt/ros/humble/setup.bash
cd /ws
colcon build --symlink-install
source install/setup.bash
ros2 launch beluga_example simulation.launch.xml

In a new terminal, run the following. ros2 run teleop_twist_keyboard teleop_twist_keyboard

Expected behavior Be able to teleoperate with teleop_twist_keyboard node, and see how the robot moves in rviz UI.

Actual behavior When the keys for teleoperation are pressed, the robot does not move anywhere because the fixed frame ( map ) is not found in rviz.

Additional context

If the fixed frame is changed to base, the teleoperation works, but the map and laser are not visible. It works fine with ROS Noetic version.

How RVIZ UI looks: