map frame does not exist and sim time true

asked 2017-01-05 05:42:12 -0500

SCrusher gravatar image


I am using V-Rep and I have created a scene with a robot publishing laser scan data and odometry data. Then I run slam-gmapping in order to create the map and visualize it in r-viz. I also produce the TF-tree in order to see if the transforms relation is correct. The odom, base_link and base_scan frames are broadcasted through vrep whereas the map frame is broadcasted through the slam-gmapping node.

When I use the parameter enable sim time true it seems that the map frame is missing from the tf-tree. When I use the parameter enable sim time false the map frame is there.

Has anyone any idea why is that happening?

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