an issue in summit_xls simulation: missing odom and map frames, no map received for local costmap

[fwthree3]

Hello,

I wanted to bring to your attention an issue I encountered with the summit_xls simulation in melodic after migrating from kinetic.

1. I have noticed that the rqt_tf_tree does not display the odom frame (summit_xl_a_odom) and map frame (summit_xl_a_map) in the simulation. I am unsure which node or package in summit_xl_sim is responsible for publishing the odom topic, as the base_hw package handles the physical robot's odom publication. Could you please guide me on which node, source code, or configuration I should review to address this issue?

2. To address the above problem, I added an external package, which has helped to display the odom and map frames in the rqt_tf_tree. However, I have encountered another issue with the local costmap, which is not receiving any map data and is displaying a warning message that reads "no map received for local costmap". Since the global costmap is functioning correctly, I suspect that the costmap converter is working correctly.

Any assistance would be really appreciative. Thank you for your anticipated assistance.

JW