navsat_transform_node - no transform from base_link to map [closed]

edit

Edit2: I have tested my heading towards NSEW and have found that I am actually -19 degrees at East not 0 at north like I expected. I will be making this improvment tomorrow but would still love anyone to point out any mistakes I have made. All nodes are running at 30Hz again.

EDIT1: I have done some further research and have found that the imu is running at 100Hz and the navsat node is publishing messages at 30Hz. I am assuming the problem is in that the navsat node is looking for a transform every 30hz but my ekf node is only publishing a transform every 100Hz and so it doesn't line up nicely? (i haven changed my ekf nodes to 100Hz since the config was posted since the imu data is at 100Hz

I am having troubles with my navsat transform node where the GPS data is either jumping around a lot or we experience the error

transform from base_link to map was unavailable for the time requested. Using latest instead

The launch file is

<?xml version="1.0"?>
<launch>

    <include file="$(find state_publisher)/launch/state_launcher.launch"/>

    <group ns="/localisation">
    <rosparam command="load" file="$(find maps_ekf)/ekf_params.yaml"/>

    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_cont" clear_params="true"/>

    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_disc" clear_params="true">
        <remap from="odometry/filtered" to="odometry/filtered_disc"/>
    </node>

    <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" clear_params="true" output="screen">
        <remap from="odometry/filtered" to="odometry/filtered_disc"/>
        <remap from="gps/fix" to="/fix"/>
        <remap from="imu/data" to="/imu/data"/>
    </node>
    </group>
</launch>

The parameters are the same as the dual_ekf_navsat_example.yaml with covariance, topic names and the node names edited. The imu and gps data is set to 100ms

ekf_cont:
frequency: 30
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false

map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom

odom0: /wheel_odom/odom
odom0_config: [false, false, false,
                false, false, false,
                true,  true,  true,
                false, false, true,
                false, false, false]
odom0_queue_size: 10
odom0_nodelay: true
odom0_differential: false
odom0_relative: false

imu0: /imu/data
imu0_config: [false, false, false,
              false,  false,  true,
              false, false, false,
              false,  false,  true,
              true,  true,  true]
imu0_nodelay: false
imu0_differential: false
imu0_relative: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true

use_control: false

process_noise_covariance: [0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                            0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                            0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                            0,    0,    0, 0.01745, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                            0,    0,    0,    0, 0.01745, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                            0,    0,    0,    0,    0, 0.15708, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                            0,    0,    0,    0,    0,    0, 0.0004,   0,     0,    0,    0,    0,    0,    0,    0,
                            0,    0,    0,    0,    0,    0,    0, 0.0004,    0,    0,    0,    0,    0,    0,    0,
                            0,    0 ...