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The error is what it seems,

Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 12.954 timeout was 1.

You haven't provided a complete base_link -> map transformation. We currently don't provide an identity transform on bringup for map->odom that AMCL or SLAM will provide, so you need to use the 2D pose estimator tool in rviz (or ros2 topic pub on the topic) to get it to have an initial transformation.

The error is what it seems,

Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 12.954 timeout was 1.

You haven't provided a complete base_link -> map transformation. We currently don't provide an identity transform on bringup for map->odom that AMCL or SLAM will provide, so you need to use the 2D pose estimator tool in rviz (or ros2 topic pub on the topic) to get it to have an initial transformation.

Edit: we recently merged something that'll let you set it from parameter files too https://github.com/ros-planning/navigation2/pull/1053/files#diff-69f605174d8338164fb692194bdef0ffR107