Revision history [back]

Issue is resolved now. Figured out the problem: The transform from /map to /odom is static but /odom to /base_link varies. Hence, edited and made changes to the tf publisher for /odom to /base_link and respective launch files. Also, first tried navigating bot in the environment and saved map then tried using that map for setting 2D pose estimate and giving 2D Nav goal which then worked as expected and robot can now autonomously navigate through environment. However, I had to include launch file for SLAM that I created for SLAM in navigation launch file.