Simulation with orb_slam2_ros barely completes (main branch)

[clydemcqueen]

The default orb_slam2_ros + nav2 demo struggles to complete a mission. There might be some subtle change to orb_slam2_ros or nav2 that I need to track. Investigate & resolve.

[clydemcqueen]

While migrating to Galactic, I noticed that nav2-galactic does better than nav2-foxy.

[wch1234567890]

Hello, first of all thank you very much for the code you provided，then I have the following problem when running the program:
--- stderr: fiducial_vlam
In file included from /home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/src/convert_util.cpp:5:
/home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/include/transform_with_covariance.hpp:6:10: fatal error: tf2/LinearMath/Transform.h: 没有那个文件或目录
6 | #include "tf2/LinearMath/Transform.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/vloc_node.dir/build.make:76：CMakeFiles/vloc_node.dir/src/convert_util.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:143：CMakeFiles/vloc_node.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
In file included from /home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/src/convert_util.cpp:5:
/home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/include/transform_with_covariance.hpp:6:10: fatal error: tf2/LinearMath/Transform.h: 没有那个文件或目录
6 | #include "tf2/LinearMath/Transform.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/vmap_node.dir/build.make:76：CMakeFiles/vmap_node.dir/src/convert_util.cpp.o] 错误 1
gmake[2]: *** 正在等待未完成的任务....
In file included from /home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/src/fiducial_math.cpp:5:
/home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/include/transform_with_covariance.hpp:6:10: fatal error: tf2/LinearMath/Transform.h: 没有那个文件或目录
6 | #include "tf2/LinearMath/Transform.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/vmap_node.dir/build.make:90：CMakeFiles/vmap_node.dir/src/fiducial_math.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:195：CMakeFiles/vmap_node.dir/all] 错误 2
In file included from /home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/src/convert_util.cpp:5:
/home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/include/transform_with_covariance.hpp:6:10: fatal error: tf2/LinearMath/Transform.h: 没有那个文件或目录
6 | #include "tf2/LinearMath/Transform.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/vmap_main.dir/build.make:90：CMakeFiles/vmap_main.dir/src/convert_util.cpp.o] 错误 1
gmake[2]: *** 正在等待未完成的任务....
In file included from /home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/src/fiducial_math.cpp:5:
/home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/include/transform_with_covariance.hpp:6:10: fatal error: tf2/LinearMath/Transform.h: 没有那个文件或目录
6 | #include "tf2/LinearMath/Transform.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/vmap_main.dir/build.make:104：CMakeFiles/vmap_main.dir/src/fiducial_math.cpp.o] 错误 1
In file included from /home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/src/convert_util.cpp:5:
/home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/include/transform_with_covariance.hpp:6:10: fatal error: tf2/LinearMath/Transform.h: 没有那个文件或目录
6 | #include "tf2/LinearMath/Transform.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/vloc_main.dir/build.make:90：CMakeFiles/vloc_main.dir/src/convert_util.cpp.o] 错误 1
gmake[2]: *** 正在等待未完成的任务....
In file included from /home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/src/fiducial_math.cpp:5:
/home/hang/orca_ws/src/fiducial_vlam/fiducial_vlam/include/transform_with_covariance.hpp:6:10: fatal error: tf2/LinearMath/Transform.h: 没有那个文件或目录
6 | #include "tf2/LinearMath/Transform.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/vloc_main.dir/build.make:104：CMakeFiles/vloc_main.dir/src/fiducial_math.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:169：CMakeFiles/vloc_main.dir/all] 错误 2
gmake[1]: *** [CMakeFiles/Makefile2:221：CMakeFiles/vmap_main.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2

So I decided to ask you for help. How should I solve it?