Can't get localized in Foxy
Description
Setting the initial pose doesn't seem to work in Foxy. I confirmed that it still works in Dashing.
How to Reproduce
The usual – start LGSVL, then set the initial pose in RViz, then unpause the simulation.
Current Behavior
Lots of these messages:
[rviz2-20] [INFO] [1612201210.135994966] [rviz2]: Setting estimate pose: Frame:map, Position(-57.5752, -41.319, 0), Orientation(0, 0, -0.973249, 0.229754) = Angle: -2.67794
[behavior_planner_node_exe-19] Warning: Invalid frame ID "odom" passed to canTransform argument source_frame - frame does not exist
[behavior_planner_node_exe-19] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp
[behavior_planner_node_exe-19] [INFO] [1612201212.490446384] [planning.behavior_planner_node]: waiting for localization result to become available
[lanelet2_global_planner_node_exe-15] Warning: Invalid frame ID "odom" passed to canTransform argument source_frame - frame does not exist
[lanelet2_global_planner_node_exe-15] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp
[lanelet2_global_planner_node_exe-15] [ERROR] [1612201212.490664609] [planning.lanelet2_global_planner_node]: Failed to transform Pose to map frame
[behavior_planner_node_exe-19] Warning: Invalid frame ID "odom" passed to canTransform argument source_frame - frame does not exist
Expected behavior
The vehicle is localized.