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Tf has two or more unconnected trees

asked 2014-05-06 04:04:20 -0500

McSlay gravatar image

Hi,

I am new to ROS and I am trying to run the indoor example of the hector_quadrotor packadge. I followed the instructions ,ran the launch file (indoor_slam_gazebo.launch) and rviz and gazebo windows appeared. The problem is that rviz shows errors in the laserscan, map and robot model all of which are related to not having a transform and having two unconnected trees. I made an image of the tf tree and this showed two seperate trees: a world tree and a base_link tree.

How can I fix this?

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answered 2014-05-06 22:38:26 -0500

McSlay gravatar image

Fixed the laser and robot model by setting the fixed frame parameter in rviz to base_link. The map still gives the error "no transform from [map] to [base_link]"

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For the map to base_link you need to run a form of localization. such as slam_gmapping or amcl

tfoote gravatar imagetfoote ( 2015-05-21 20:05:50 -0500 )edit
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answered 2015-07-20 18:45:02 -0500

creative_cimmons gravatar image

I have been working on it since May 15 and didn't find any such errors. Anyway if you did encounter errors write a simple tf publisher subscriber model where publisher is base_link and subscriber is map .

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Asked: 2014-05-06 04:04:20 -0500

Seen: 523 times

Last updated: Jul 20 '15