Tf has two or more unconnected trees

Hi friend. I have a problem. I want to run my bag file with Karto. So I use static transform publisher to connect frames.

My frames.pdf is here:

I set the fixed frame to the odom, My LaserScan sometimes red, sometimes green:

Like this(Red): image description

But it changes.

When I set fixedframe to the baselink, LaserScan seems good, but at this time, map going to red(Error)sometimes and green sometimes. And it says me "No transform from [map] to [base_link]"

This is an error or normal? Is my TF tree correct?

Asked by kursatufuk on 2015-12-16 21:30:03 UTC

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Why do you have world frame? Is it intentional?

Asked by Akif on 2015-12-17 02:59:05 UTC

Does the output of your odometry/localization node say something helpful?

Asked by BennyRe on 2015-12-17 03:12:11 UTC

Hey Akif, thanks for your reply. No it is not intentional and I didn't find, why it is on my tf tree.

Asked by kursatufuk on 2015-12-17 05:39:15 UTC

Hey BennyRe, which node? I have these node now: /Mapper /lsm_node /odom_lsm /robot_pose_ekf /rosout /rostopic_7736_1450348973162 /rviz /tf1 /tf2 /tf3

Asked by kursatufuk on 2015-12-17 06:23:24 UTC

I don't know. You should know which node is responsible for odometry and/or localization but it should be one of /Mapper /lsm_node /odom_lsm /robot_pose_ekf

Asked by BennyRe on 2015-12-17 06:45:00 UTC

/Mapper node is nav2d_karto, lsm_node is LaserScanMatcher node, odom_lsm is my package. I take Pose2d message from LaserScanMatcher and I convert it to the nav_msgs/Odometry.

Asked by kursatufuk on 2015-12-17 09:04:49 UTC

Tf has two or more unconnected trees

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