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This error indicates that even though your LaserScan
messages are being received (by "a" consumer, you don't tell us which), there are no TF transform broadcasts to backup the laser
frame that has been specified as value for frame_id
in your messages (in the Header).
You'll have to make sure that you either:
static_transform_broadcaster
to provide a transform between something and laser
link
named laser
to the scene with a joint
laser
frame the root of everythingif you already have a turtlebot URDF, I would suggest to use either option 1 or 2, preferably option 2.