gmapping doesn't publish the tf from map->odom
I recently try to run SLAM gmapping on Husky robot. I build the map successfully but don't get the tf from map to odom. Even the frame "map" doesn't exist.
I have some the questions.
whether the time synchronization has an impact on that?
I have used the command "ntpdate -p robot_ip" to check it. I get the following result.
server 192.168.5.112, stratum 0, offset 0.000000, delay 0.00000 8 May 10:23:58 ntpdate[4259]: no server suitable for synchronization found
whether rate of publishing tf has an impact on that?
I tried to change the value of parameter "transform_publish_period" of gmapping so that it is consistent with the rate of others publishing.
All trials don‘t resolve my problem. What’s wrong? Thanks for any advise.
Please attach tf tree and node graph
Also check your laser scanner. There may be a problem with readings.