Tf has two or more unconnected trees

asked 2015-12-16 20:30:03 -0500

kursatufuk gravatar image

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: tf

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 fixed_frame to the base_link, 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?

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Why do you have world frame? Is it intentional?

Akif gravatar imageAkif ( 2015-12-17 01:59:05 -0500 )edit

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

BennyRe gravatar imageBennyRe ( 2015-12-17 02:12:11 -0500 )edit

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

kursatufuk gravatar imagekursatufuk ( 2015-12-17 04:39:15 -0500 )edit

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

kursatufuk gravatar imagekursatufuk ( 2015-12-17 05:23:24 -0500 )edit

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

BennyRe gravatar imageBennyRe ( 2015-12-17 05:45:00 -0500 )edit

/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.

kursatufuk gravatar imagekursatufuk ( 2015-12-17 08:04:49 -0500 )edit