Error in amcl node while configuring navigation stack simulation
I have configured the navigation stack to a mobile robot model. When i tried to launch the below file got a following error. I am sure the error is with amcl node because i checked other nodes, launch file works fine without the amcl node.
<launch>
<!-- Load the TortoiseBot URDF model into the parameter server -->
<param name="robot_description" textfile="$(find jmbot1_description)/urdf/jmbot1.1.urdf" />
<!-- Start Gazebo with a world containing a large building-->
<include file="$(find gazebo_ros)/launch/willowgarage_world.launch"/>
<!-- include file="$(find gazebo_ros)/launch/empty_world.launch"/ -->
<!-- Spawn a TortoiseBot in Gazebo, taking the description from the
parameter server -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
args="-param robot_description -urdf -model jmbot1.1 -x 8 -y -8" />
<!-- Convert /joint_states messages published by Gazebo to /tf messages,
e.g., for rviz-->
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher"/>
<node name="map_server" pkg="map_server" type="map_server"
args="$(find mapping)/src/maps/willow.yaml" />
<include file="$(find amcl)/examples/amcl_diff.launch"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find jmbot1_description)/src/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find jmbot1_description)/src/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find jmbot1_description)/src/local_costmap_params.yaml" command="load" />
<rosparam file="$(find jmbot1_description)/src/global_costmap_params.yaml" command="load" />
<rosparam file="$(find jmbot1_description)/src/base_local_planner_params.yaml" command="load" />
</node>
</launch>
Error:
[ERROR] [1454003234.548580927, 485.467000000]: Couldn't transform from hokuyo_link to base_link, even though the message notifier is in use
I have verified the rqt_graph and here is it for ref