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That error message of course is not very verbose. I just changed it to be more informative, you'll just have to update your svn working copy and rebuild.

Now for the error itself, it seems there is no transformation information available between the base_frame and the laser frame. These tutorials should give you an idea on why and how to do that:

http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/TF http://www.ros.org/wiki/hector_slam/Tutorials/SettingUpForYourRobot

The easiest way to publish such a transform in case you don't have a URDF model is to use a static_transform publisher as described here:

http://www.ros.org/wiki/tf#static_transform_publisher

That error message of course is not very verbose. I just changed it to be more informative, you'll just have to update your svn working copy and rebuild.

Now for the error itself, it seems there is no transformation information available between the base_frame and the laser frame. These tutorials should give you an idea on why and how to do fix that:

http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/TF http://www.ros.org/wiki/hector_slam/Tutorials/SettingUpForYourRobot

The easiest way to publish such a transform in case you don't have a URDF model is to use a static_transform publisher as described here:

http://www.ros.org/wiki/tf#static_transform_publisher