Kobuki is not publishing tf transform between odom and base_footprint

asked 2019-12-20 09:18:06 -0500

koenichiwa gravatar image

I'm currently using a turtlebot2 and I have a kobuki_node which I launch by including the minimal launch file. In that launch file, the parameter kobuki_publish_tf is set to true, so I'm expecting a tf transform from odom to base_footprint. When I run the tf tree debugger tool though, I see two trees, one with base_footprint, and the other with odom. How do I debug this? The only error I get on launch is that the link between the map frame and the base_footprint frame does not exist.

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