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Error Message:lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.

asked 2017-03-14 01:19:06 -0500

Shilpan gravatar image

updated 2017-03-14 07:04:24 -0500

When i run roslaunch hector_slam_launch tutorial.launch and rplidar_ros rplidar.launch , i get an error message lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.

I am able to open up RVIZ, but displays Fixed Frame: No tf data. Actual error: Fixed Frame [map] does not exist.

My tf tree says no tf data received.

Here is all my rostopic list: /clicked_point /initialpose /map /map_metadata /map_updates /move_base_simple/goal /poseupdate /rosout /rosout_agg /scan /slam_cloud /slam_out_pose /syscommand /tf /tf_static /trajectory

Here is my launch file:


<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="base_footprint"/> <arg name="odom_frame" default="nav"/> <arg name="pub_map_odom_transform" default="true"/> <arg name="scan_subscriber_queue_size" default="5"/> <arg name="scan_topic" default="scan"/> <arg name="map_size" default="2048"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="false"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->

  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>


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if i add Laser Scan to RVIZ ans select topic as scan, then i get error message: Transform [sender=unknown_publisher] For frame [laser]: Fixed Frame [map] does not exist

Shilpan gravatar imageShilpan ( 2017-03-14 01:25:47 -0500 )edit

Please change the title of your question (use the edit button next to the title). Make it short and to the point, so it describes your actual issue. Do not include "plz help" and try to refrain from copy-pasting actual error messages into it.

gvdhoorn gravatar imagegvdhoorn ( 2017-03-14 03:33:45 -0500 )edit

Any clues?

Shilpan gravatar imageShilpan ( 2017-03-14 07:04:46 -0500 )edit

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answered 2017-03-24 12:13:02 -0500

Shilpan gravatar image

Issue resolved with tf code messages in hector_slam launch files.

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what changes did you make and in which files?

rosfun gravatar imagerosfun ( 2017-03-28 14:12:33 -0500 )edit

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Asked: 2017-03-14 01:19:06 -0500

Seen: 1,025 times

Last updated: Mar 24 '17