title: Navigation stack error while using EKF_localizatio_node with Turtlebot2
body: <p>I am using Turtlebot2 on Noetic, my navigation stack works fine when I use AMCL or fake localization as the localizer. However, due to the need of my research, I want to use EKF_localization_node as the localizer which means that my tf [map] -&gt; [odom] is published by EKF_localizatio_node.</p>
  <p>While using EKF_localizatio_node, my move_base has this error:</p>
  <p>I have already tried to follow the solution provided on this website: <a href="https://answers.ros.org/question/3045.." rel="nofollow noreferrer">https://answers.ros.org/question/3045..</a>.</p>
  <p>by writing a subscriber who subscribes to /tf and adds its stamp with
  rospy.Duration.from_sec(0.5).</p>
  <pre><code>  def tf_callback(data):
      if data.transforms[0].header.frame_id == 'map':
        data.transforms[0].header.stamp = data.transforms[0].header.stamp + rospy.Duration.from_sec(0.5)
  </code></pre>
  <p>But this still doesn't work.</p>
  <p>My ekf node is shown as follows:</p>
  <pre><code>&lt;node pkg=&quot;robot_localization&quot; type=&quot;ekf_localization_node&quot; name=&quot;robot_localization_ekf_node_map clear_params=&quot;true&quot;&gt;
    &lt;param name=&quot;frequency&quot; value=&quot;10&quot; /&gt;  
    &lt;param name=&quot;sensor_timeout&quot; value=&quot;2&quot; /&gt;  
    &lt;param name=&quot;two_d_mode&quot; value=&quot;true&quot; /&gt;
    &lt;param name=&quot;publish_tf&quot; value=&quot;true&quot; /&gt;
    &lt;param name=&quot;map_frame&quot; value=&quot;map&quot; /&gt;
    &lt;param name=&quot;odom_frame&quot; value=&quot;odom&quot; /&gt;
    &lt;param name=&quot;base_link_frame&quot; value=&quot;base_link&quot; /&gt;
    &lt;param name=&quot;world_frame&quot; value=&quot;map&quot; /&gt;
    &lt;param name=&quot;twist0&quot; value=&quot;/cmd_vel_mux/input/teleop&quot; /&gt;
    &lt;rosparam param=&quot;twist0_config&quot;&gt;
      [false, false, false, false, false, false,
       true, true, false, false, false, true,
       false, false, false]&lt;/rosparam&gt;
  
    &lt;param name=&quot;pose0&quot; value=&quot;/pose&quot; /&gt;
    &lt;rosparam param=&quot;pose0_config&quot;&gt;
      [true, true, false, false, false, true,
       false, false, false, false, false, false,
       false, false, false]&lt;/rosparam&gt;
    &lt;remap from=&quot;odometry/filtered&quot; to=&quot;odometry/filtered_map&quot;/&gt;
  &lt;/node&gt;
  </code></pre>
  <p>I have also tried to increase the frequency, it has a little bit improved (generate the global path, but nearly not develop the local plan, which means that sometimes it moves following the global path, but most of the time it stops or just rotates). Note that /pose is a topic I publish, and the value is subscribed from gazebo model_state, I have checked it. I think it works fine.</p>
  <p>Any suggestions would be appreciated.</p>