nav2d - Problems getting it working on a real robot

edit

Hi,

I'm trying to get nav2d to work. I have a launch file on my real robot which looks like:

<launch>
<node name="toeminator_ros_bridge" pkg="toeminator_ros_bridge" type="toeminator_ros_bridge_node"/>
<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher3" args="1 0 0 0 0 0 1 base_link base_laser_link 100"/>
<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" > 
    <remap from="image" to="/openni2_camera/depth/image_raw"/>
    <param name="output_frame_id" value="base_laser_link"/>
</node>
<node name="openni2_camera" pkg="openni2_camera" type="openni2_camera_node" />
</launch>

and a launch file on the PC to do all the nav2d work which looks like:

<launch>
        <!-- Some general parameters -->
        <param name="use_sim_time" value="false" />
        <rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

        <!-- Start Stage simulator with a given environment -->
        <!--node name="Stage" pkg="stage_ros" type="stageros" args="$(find nav2d_tutorials)/world/tutorial.world">
    <param name="base_watchdog_timeout" value="0" />
        </node-->

        <!-- Start the Operator to control the simulated robot -->
        <node name="Operator" pkg="nav2d_operator" type="operator" >
            <remap from="scan" to="base_scan"/>
            <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
            <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
        </node>

        <!-- Start Mapper to genreate map from laser scans -->
        <!--node name="Mapper" pkg="nav2d_karto" type="mapper">
            <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
        </node-->

        <!-- Start the Navigator to move the robot autonomously -->
        <!--node name="Navigator" pkg="nav2d_navigator" type="navigator">
            <remap from="cmd" to="cmd_vel"/>
            <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
         </node-->

        <!--node name="GetMap" pkg="nav2d_navigator" type="get_map_client" /-->
        <!--node name="Explore" pkg="nav2d_navigator" type="explore_client" /-->
        <!--node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" /-->

        <!-- Start the joystick-driver and remote-controller for operation-->
        <node name="Joystick" pkg="joy" type="joy_node" />
        <node name="Remote" pkg="nav2d_remote" type="remote_joy"></node>

        <!-- Pioneer model for fancy visualization -->
        <!-- Comment this out if you do not have the package 'p2os' available! -->
        <include file="$(find p2os_urdf)/launch/pioneer3at_urdf.launch" />

        <node name="front_left_wheel" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_front_left_hub p3at_front_left_wheel 100" />
        <node name="front_right_wheel" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_front_right_hub p3at_front_right_wheel 100" />
        <node name="back_left_wheel" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_back_left_hub p3at_back_left_wheel 100" />
         <node name="back_right_wheel" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 p3at_back_right_hub p3at_back_right_wheel 100" />

        <!-- RVIZ to view the visualization -->
        <node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial1.rviz" />

      </launch>

I assume (correct me if the assumption is incorrect) that if I bring both these up and use to joystick to point the robot fwd then it will just start roaming around building a map, as it does in the Stage tutorials?

Two issues I am seeing:

1) I am getting a TF tree disconnect between the map and the laser - showing in rviz as:

Transform [sender=unknown_publisher]
For frame [base_laser_link]: No transform to fixed frame [map]. TF error: [Could not find a connection between 'map' and 'base_laser_link' because they are not part of the same tree.Tf has two or more unconnected trees.]

My TF tree is here: https://www.dropbox.com/s/cg8zrudnblffj3h/frames.pdf?dl=0

2) Console is reporting:

 [ERROR ...