Hey , i am working on a 4 wheel drive differential robot , I am using Rosserial to talk to the arduino (cmd_vel) and arduino publishes back (tf , in which the odom is there).

Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.101146 timeout was 0.1.

As you can see from the image , the error is No transform from camera to odom . I have done all simulations and it works properly ,but when i am using the Real robot , this error pops up .

What could be the error , the possibilities that i could think of are the below

1. The frames not being synced , will i have to subscribe to a /clock topic on the arduino to synchronize the /tf topic .
2. /odom as a dedicated topic doesnt exist .

Also can someone explain me the differences between

1. /odometry/filtered
2. /velocity_controller/odom
3. /tf topic

Additional information , the Arduino code which communicates to kangaroo x2.

enter code here

#include <ros.h>
#include <std_msgs/Empty.h>
#include <ros/time.h>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/String.h>
#include <std_msgs/Empty.h>
#include <std_msgs/Bool.h>


#include <SoftwareSerial.h>
#include <Kangaroo.h>
#define TX_PIN 13 //s1
#define RX_PIN 12 //s2
// Arduino TX (pin 2) goes to Kangaroo S1
// Arduino RX (pin 3) goes to Kangaroo S2

// Independent mode channels on Kangaroo are, by default, '1' and '2'.
SoftwareSerial  SerialPort(RX_PIN, TX_PIN);



KangarooSerial  K(SerialPort);

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//SETTINGS//////////////////////////////////////////////
#define Mixed_mode true
 bool position_control =  true;
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 #ifdef Mixed_mode
   KangarooChannel Drive(K, 'D');
   KangarooChannel Turn(K, 'T');
 #endif

#ifndef Mixed_mode
  KangarooChannel KL(K, '1');
  KangarooChannel KR(K, '2');
#endif

ros::NodeHandle  nh;
long WHEEL_DIST = 2 ;


///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
std_msgs::Bool position_control_msg;
std_msgs::Bool mixed_mode_msg;



 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

double x = 1.0;
double y = 0.0;
double theta = 1.57;

void cmd_velCallback( const geometry_msgs::Twist& CVel){
  //geometry_msgs::Twist twist = twist_msg;

   long vel_x = CVel.linear.x*200;


   long vel_th = -CVel.angular.z*200;

   x += cos(theta)*CVel.linear.x*0.1;
   y += sin(theta)*CVel.linear.x*0.1;
   theta += CVel.angular.z*0.1;

   long  speed_right = (vel_th*WHEEL_DIST)/2 + vel_x;
   long  speed_left = (vel_x*2) - speed_right;
   long right_vel = 0.0;
   long left_vel = 0.0;
   //right_vel = vel_th * WheelSeparation / 2.0;
   //left_vel = (-1) * right_vel;
   //left_vel = vel_x - vel_th * WheelSeparation / 2.0;
   //right_vel = vel_x + vel_th * WheelSeparation / 2.0;
    // turning


    //IF MIXED MODE CONFIG
    #ifdef Mixed_mode
    if(int(vel_x) == 0 && int(vel_th)==0){  
      if (position_control){
        Turn.pi(0);
        Drive.pi(0);}
      else{
        Turn.s(0);
        Drive.s(0);
       }
     }   

   // forward / backward
   else if(abs(vel_x) > abs(vel_th)  ){ 
      if (position_control){
          Drive.pi(vel_x);
          Turn.pi(vel_th);
         }
      else{
          Drive.s(vel_x);
          Turn.s(vel_th);
       }
     }
   // moving doing arcs
   else{ 
      if (position_control){
        Drive.pi(vel_x);
        Turn.pi(vel_th);}
      else{
        Turn.s(vel_th);
        Drive.s(vel_x);
      }


    }

     #endif
    //////////////////////////////////////////////////////////////////////////////////////////////////////
    //IF NOT MIXED MODE CONFIG
    #ifndef Mixed_mode
     if(position_control){
       KL.pi(speed_left);
       KR.pi(speed_right);

       }
    else{
      KL.s(speed_left);
      KR.s(speed_right);

       }

   #endif


  }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void reset_Kangaroo(  std_msgs::Empty& toggle_msg){
  init_kangaroo();
 }

void mixed_mode_func(std_msgs::Bool& mixed_mode_topic ){
    mixed_mode_msg = mixed_mode_topic;
  }

void position_control_func(std_msgs::Bool& position_control_topic ){
   position_control_msg = position_control_topic;
  }


 // ROS SUBSCRIBERS

 ros::Subscriber<geometry_msgs::Twist> Sub("cmd_vel", &cmd_velCallback );
 ros::Subscriber<std_msgs::Empty> reset_kangaroo("reset_kangaroo", reset_Kangaroo );

 //THese two topics are to turn on and off the position_control OR mixed_mode
 ros::Subscriber<std_msgs::Bool> Position_control("position_control",position_control_func  );
 ros::Subscriber<std_msgs::Bool> mixed_mode("mixed_mode",mixed_mode_func  );


 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void init_kangaroo(){


 #ifdef Mixed_mode
  Drive.start();
  Turn.start();
   Drive.home();
   Turn.home();
  SerialPort.println("D,start");
  SerialPort.println("T,start");
  SerialPort.println("D, units 100 thou = 245 lines");
  SerialPort.println("T, units 100 thou = 245 lines");

 #endif
 #ifndef Mixed_mode
  KL.start();
  KR.start();
  SerialPort.println("1,start");
  SerialPort.println("2,start");
  SerialPort.println("1, units 100 thou = 245 lines");
  SerialPort.println("2, units 100 thou = 245 lines");
#endif

 }


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
geometry_msgs::TransformStamped t;
tf::TransformBroadcaster broadcaster;



 char base_link[] = "/base_link";
 char odom[] = "/odom";

 void odom_publisher(){

  // drive in a circle
  //double dx = 0.2;
  //double dtheta = 0.18;
  //x += cos(theta)*dx*0.1;
  //y += sin(theta)*dx*0.1;
  //theta += dtheta*0.1;
   if(theta > 3.14)
     theta=-3.14;

   //tf odom->base_link
    t.header.frame_id = odom;
    t.child_frame_id = base_link;

    t.transform.translation.x = x;
    t.transform.translation.y = y;

     t.transform.rotation = tf::createQuaternionFromYaw(theta);
    t.header.stamp = nh.now();

    broadcaster.sendTransform(t);

  }


   /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
   void setup(){ 
     SerialPort.begin(9600);
    init_kangaroo();

   nh.initNode();
   broadcaster.init(nh);

   nh.subscribe(Sub);
   nh.subscribe(reset_kangaroo);
    nh.subscribe(Position_control);
    nh.subscribe(mixed_mode);

 }

 void loop() {
   odom_publisher();  
   nh.spinOnce();

    delay(1);
   }