No transform from [robot0/robot0/map] to [world]

asked 2018-11-24 09:10:31 -0500

Nickats98 gravatar image

Hey everyone I was trying to add a fixed "World" frame to add my separate TF trees (robot/map -> robot/odom -> robot/base_link) using a static transform publisher, when I came across this problem; When I try to visualize my map in rviz, I get the following error: No transform from [robot0/robot0/map] to [world]. (I get this error whether I add the fixed frame or not) All I do is bring up a map, separate sdf models and run gmapping for each one of them using this node in my launch file:

   <node pkg="gmapping" type="slam_gmapping" name="gmapping">
    <param name="odom_frame" value="$(arg robot_name)/odom"/>   
    <param name="map_frame" value="$(arg robot_name)/map"/>
    <param name="base_frame" value="$(arg robot_name)/base_link"/>               

    <param name="xmin" type="double" value="0"/>
    <param name="xmax" type="double" value="200"/>
    <param name="ymin" type="double" value="0"/>
    <param name="ymax" type="double" value="200"/>

    <remap from="map" to="map_output"/>

How can I avoid the two prefixes without having to use map without the robot_name argument? (since I need separate map frames for my navigation package) I have uploaded the picture of my rviz and TF tree here.

Thank you!

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