Problem creating a map with gmapping
I added a laser scanner to a custom robot model, but when I ran the the gmap node. The robot was not mapping the environment.
The warnings I got when I ran my launch file are :
Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 98.215 timeout was 0.1.
The origin for the sensor at (71.50, -50.00) is out of map bounds. So, the costmap cannot raytrace for it.
Scan Matching Failed, using odometry. Likelihood=0 lp:71.5 -50 1.49224e-17 op:70.6211 -50.1456 0.000266226
The image of my TF tree is https://imgur.com/a/shzkIOB
Did you managed to solve your issue? It seems like I'm having similar issues with "Scan Matching Failed" error messages and when that happens, my map in rViz is messed up.