What to fix the tranformation using AMCL?
Hi guys!
I was following this tutorial ( https://www.fer.unizg.hr/_download/re... ) and something happened that I can't explain. When we use this code
rosrun amcl amcl _use_map_topic:=true scan:=/robot0/laser_0 _odom_frame_id:=/world _base_frame_id:=/robot0 _global_frame_id:=/world
shows one error but works.
I wanna know if someone knows how fix this error about do the transformation from laser→base_link and from base_link→odometry.
And i wanna know if someone knows why we use _odom_frame_id:=/world
.
The error is:
[ERROR] [1509645225.800510786, 658.227000000]: Ignoring transform from authority "unknown_publisher" with frame_id and child_frame_id "world" because they are the same
Thanks all!
Please add your tf tree
Hi, Here is the TF tree: TF tree
why do you have two map frames?