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It seems that you are missing the map frame, as it does not appear on your tf tree. Try to add the following line to the launch file:

<!-- Place map frame at odometry frame -->
<node pkg="tf" type="static_transform_publisher" name="map_odom_broadcaster"
      args="0 0 0 0 0 0 map odom 100"/>

That worked for me in the past. It includes the transformation from map to odom. Which, in this case, is the same.

Probably, you can do a remap of the odom to map as well but, I am not sure that will work.