# Waiting on transform from base_link to map to become available before running costmap

Hi, I doing a project of using kinect and ros for obstacle avoidance. I am new to ros, so glad if anyone could explain to me in details. Here is my launch file to bring up all the sensors, as well as running the navigation stack with amcl. I following this repo. https://github.com/danimtb/pioneer3at...

As you can see from my TF tree, the depthimage_to_laser node and map_server is not running. I not sure why because in my launch file, i did launch my depthimage_to_laserscan. I not sure what other launch files i didn't run ? I also get this error message.

Waiting on transform from base_link to map to become available before running costmap, tf error:

<launch>

<include file="$(find p2os_urdf)/launch/pioneer3at_urdf.launch"/> <include file="$(find pioneer_utils)/sensors/LMS1xx.launch"/>

<include file="$(find freenect_launch)/launch/freenect.launch"/> <include file="$(find pioneer_utils)/sensors/kinect_to_laser_low.launch"/>

<include file="$(find pioneer_utils)/sensors/kinect_to_laser.launch"/> <include file="$(find pioneer_utils)/sensors/laser_filter/scan_filtered.launch"/>

<include file="\$(find pioneer_utils)/sensors/rosaria.launch"/>