Transform error: "base_link" passed to lookupTransform argument source_frame does not exist.

asked 2020-05-12 10:04:10 -0600

updated 2020-05-14 05:07:35 -0600

Hey folks, I hope you all are doing well. On running ow5_moveit.launch file, I am getting below error:

[ERROR] [1589293820.283521920, 894.115000000]: Transform error: "base_link" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1589293820.283623321, 894.115000000]: Transform cache was not updated. Self-filtering may fail.

After doing some research, I found out the error is related to the PointCloud Occupany Map Updater. It has been specified in sensors.yaml configuration file which is being used in the ow5_moveit_sensor_manager.launch.xml file. When I comment the contents of sensors.yaml file, everything is working and I am not getting any error.

I would really appreciate someone's help or advice on this. Thanks in advance.

output of rosrun tf view_frames:

image description


  <!-- Set the file describing which sensor(s) to use to build the octomap  -->
  <arg name="moveit_octomap_sensor_params_file" default="$(find ow5_robot)/config/sensors.yaml"/>

  <!-- Params for the octomap monitor -->
  <param name="octomap_frame" type="string" value="world" />

  <!-- sensors used to update the map -->
  <rosparam command="load" file="$(arg moveit_octomap_sensor_params_file)" />


  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /camera/depth_registered/points 
    max_range: 2.5 #default value: 2.5
    frame_subsample: 1 #default value: 1
    point_subsample: 1 #default value: 1
    padding_offset: 0.01 #default value: 0.01
    padding_scale: 1.0 #default value: 1.0
    filtered_cloud_topic: filtered_cloud #Use only for debugging



    <!-- By default, we are not in debug mode -->
    <arg name="debug" default="false" />
    <arg name="config" default="true" />
    <arg name="use_gui" default="false" />

    <rosparam command="load" file="$(find ow5_moveit)/config/joint_names.yaml"/>

    <include file="$(find ow5_moveit)/launch/move_group.launch"/>

    <!-- launch rviz-->
    <!-- <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"
        output="screen" args="-d $(find ow5_robot)/config/ow5.rviz"/> -->

    <include file="$(find ow5_moveit)/launch/moveit_rviz.launch">
        <arg name="config" value="$(arg config)"/>
        <arg name="debug" value="$(arg debug)"/>

demo.launch (for starting gazebo simulation world)


  <!--Launch a gazebo world-->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find ow5_robot)/worlds/"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="paused" value="false"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>

  <!-- BEGIN ow5 robot-->
  <group ns="ow5">
    <param name="tf_prefix" value="ow5_tf" />

    <include file="$(find ow5_robot)/launch/robot_spawn.launch" >
      <arg name="init_pose" value="-x 0 -y -0 -z 0 -R 0 -P 0 -Y 1.95" />
      <arg name="robot_name"  value="ow5" />

    <node name="static_transform_publisher" pkg="tf" type="static_transform_publisher" 
          args="0 0 0 0 0 0 world ow5_tf/world 100"/>
  <!-- END ow5 robot-->

  <!-- BEGIN camera_sensor robot-->
  <group ns="sensor_stick">

    <param name="tf_prefix" value="sensor_stick_tf" />

    <include file="$(find sensor_stick)/launch/sensor_stick_spawn.launch" >
      <arg name="init_pose" value="-x 0.5 -y 1.5 -z 0 ...
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were you able to resolve this issue?, i am facing the same problem.

mt_yolo gravatar image mt_yolo  ( 2021-05-09 06:35:02 -0600 )edit