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Two things.

1. V-REP publishes TF tree: map->odom->base_link->sparton. I checked tf and it's being made correctly.

   It it ekf_localization_node's job to publish the odom->base_link transform or the map->odom transform. If some other node is publishing them, that's a problem.

2. Get rid of the forward slashes in the frame_id fields of your input messages. ekf_localization_node uses tf2, and so it automatically strips leading forward slashes from your *_frame parameters in the launch file. See this.

Two things.

1. V-REP publishes TF tree: map->odom->base_link->sparton. I checked tf and it's being made correctly.

   It it ekf_localization_node's job to publish the odom->base_link odom->base_link transform or the map->odom transform. map->odom transform (depending on what you have world_frame set to). If some other node is publishing them, that's a problem.

2. Get rid of the forward slashes in the frame_id fields of your input messages. ekf_localization_node uses tf2, and so it automatically strips leading forward slashes from your *_frame parameters in the launch file. See this.

Two things.

1. V-REP publishes TF tree: map->odom->base_link->sparton. I checked tf and it's being made correctly.

   It it is ekf_localization_node's job to publish the odom->base_link transform or the map->odom transform (depending on what you have world_frame set to). If some other node is publishing them, that's a problem.

2. Get rid of the forward slashes in the frame_id fields of your input messages. ekf_localization_node uses tf2, and so it automatically strips leading forward slashes from your *_frame parameters in the launch file. See this.