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Navigation Stack transform base_link to /map error

asked 2017-07-14 14:55:26 -0500

xnick77x gravatar image

Hi, I am trying to run a turtlebot 2 with and RPLidar. I launch the RPLidar node and the turtlebot bring up followed by the move_base from the tutorial ( ).

Currently I am running into this error: [ WARN] [1500061606.588011960]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.101218 timeout was 0.1.

I also don't think my tf_tree looks correct:

Even after reading the tf wiki page, I am having trouble understanding how to configure it and integrate tf into my project. There is no "map" transformation, and there are two separate trees...

Any help would be appreciated!

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Whatever mobile_base_nodelet_manager is, looks like you configure it to use base_footprint as frame while you should have used base_link. An alternative solution would be to provide a static transform from base_link to base_footprint.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-07-16 11:27:32 -0500 )edit

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answered 2017-07-27 01:30:57 -0500

Procópio gravatar image

updated 2017-07-27 01:31:15 -0500

It seems you are not running AMCL. This node localizes the robot in a previously built map, and provide the map->odom transform, which is missing in your tree.

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Asked: 2017-07-14 14:55:26 -0500

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Last updated: Jul 27 '17