Verify SLAM topics
Check that Cartographer publishes the expected topics and visualize the TF tree.
After launching SLAM, verify that the relevant topics are active and inspect the transform tree. It’s common to run a QoS relay for the odometry topic to ensure reliability.
bash
ros2 topic list
bash
ros2 topic echo /map
bash
ros2 run tf2_tools view_frames
bash
ROS_NAME=${ROS_NAME} ros2 launch qos_relay qos_relay.launch.py