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No transform from [base_link] to [/map]

asked 2017-02-01 09:00:31 -0600

burf2000 gravatar image

updated 2017-02-01 10:45:06 -0600

I know similar questions have been asked but I think mine is a little different.

I have a custom robot which is running Hector_Slam and the navigation stack etc, all is working well. However I been advised to add a model (URDF) to the project so I can tell the system where my new sensors are going to go.

My Fixed frame is /map or I can use /laser

I created my robot which its top level thing seems to be base_link. It complains that there is No transform from [base_link] to [/map]?

It also complains there is no No transform from [lwheel] to [/map] and so on? If I fix the base_link error will it make the others go away? (the wheels are linked to base_link)

In my Hector Launch File I see lots or references to

<param name="base_frame" value="base_frame"/>

But nothing to base_link

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To make things slightly simpler:

If I fix the base_link error will it make the others go away? (the wheels are linked to base_link)

yes.

gvdhoorn gravatar imagegvdhoorn ( 2017-02-01 09:19:35 -0600 )edit

Man I need to buy you a beer or a pack. Any idea how I link base_link to map?

burf2000 gravatar imageburf2000 ( 2017-02-01 10:21:21 -0600 )edit

Randomly I changed the base_link to base_frame however the wheel etc error did not go away

burf2000 gravatar imageburf2000 ( 2017-02-01 10:47:21 -0600 )edit

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answered 2017-02-02 04:23:43 -0600

Procópio gravatar image

in the base_frame parameter, you should put the name of your "main" tf frame, it usually is base_link or base_footprint. do you have odom? if not, set the odom_frame to the same as the base_frame basically follow the guidelines here.

also there is no wheel in your tf tree, so probably something is wrong in your URDF.

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I do have a base_footprint, is that the same as base_Link. in My URDF, when I change base_link to base_frame, the main error goes away however, what do I need to do to link my wheels up? I do have /odom_frame vai Hector

burf2000 gravatar imageburf2000 ( 2017-02-02 04:48:24 -0600 )edit

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Asked: 2017-02-01 09:00:31 -0600

Seen: 1,353 times

Last updated: Feb 02 '17