Hi, I created a rapp by following this instruction with amcl_demo. The launch file is as follows:

<launch>  
     <include file="$(find turtlebot_navigation)/launch/amcl_infocenter.launch"/>
     <node pkg="robot_pose_publisher" name="robot_pose_publisher" type="robot_pose_publisher"> 
     <rosparam>  
        is_stamped: true   
        base_frame: base_footprint 
     </rosparam> 
     </node>
</launch>

I used this rapp to replace "nav_demo" in multinav_concert of the big project robotic-in-concert.

I run softnavbotclient.launch( see mulitnav_concert） in a turtlebot. It always comes out "waiting on transform from basefootpirnt to map to become available before running costmap, tf error.” I think this the reason why topic /softbot/amclpose doesn't output any data. By checking the tf view_frames, the tf tree doesn't have map. But the map server work normally.

If I run amcl_infocenter.launch outside a rapp, everything works normally. Does anyone have encounter this problem