[WARN] Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

asked 2020-06-05 19:03:54 -0500

AdrianNeoh gravatar image

updated 2020-06-05 19:22:49 -0500

Hi,

I am trying to create a global map for navigation with a Magni Silver according to the tutorials found at https://learn.ubiquityrobotics.com/fi.... When I use rviz to visualize and monitor my map creation, it gives me this error message: "Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees". On rviz, the image tab says "no image received" and the image window at the bottom left says "no image". I believe the above error message is the root of the problem. Does anyone know how to fix this issue? Any suggestions and help would be greatly appreciated.

The camera doesn't seem to be the problem as it is able to detect the fiducial markers I had placed on the ceiling and is updating the map with the information.

Below is a snippet of the output with the error message I am receiving:

[ INFO] [1591347899.205001914]: Detected 3 markers
[ INFO] [1591347899.208942740]: Detected id 112 T 0.38 0.59 2.44 R 2.84 -1.30 0.12
[ INFO] [1591347899.209377641]: angle 3.129682 axis 0.908714 -0.415668 0.038204
[ INFO] [1591347899.209923150]: Detected id 111 T -0.69 0.10 2.42 R 2.82 -1.30 0.11
[ INFO] [1591347899.210936541]: angle 3.104985 axis 0.907523 -0.418436 0.036226
[ INFO] [1591347899.211421200]: Detected id 109 T -0.33 0.96 2.42 R 2.29 -1.06 0.63
[ INFO] [1591347899.211786880]: angle 2.606765 axis 0.879888 -0.408424 0.242872
[ INFO] [1591347899.242804679]: Updating map with 3 observations. Map has 4 fiducials
[ INFO] [1591347899.242901011]: camera->base   0.035000 0.150000 -0.140000
[ INFO] [1591347899.242962806]: base->camera   0.035000 0.150000 0.140000
[ INFO] [1591347899.243020731]: Pose 112 0.017386 0.022528 0.023186 0.008675 -0.005386 -0.005759 0.010044
[ INFO] [1591347899.243069860]: Pose 111 -0.066407 -0.000615 0.027088 -0.000356 0.026993 -0.000359 0.010065
[ INFO] [1591347899.243125692]: Pose 109 -0.003508 -0.020615 0.000193 -0.007919 0.001415 0.000176 0.010000
[ INFO] [1591347899.243174765]: Pose ALL -0.016551 -0.000960 0.015715 -0.000409 0.007239 -0.001830 0.004011
[ WARN] [1591347899.243290301]: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ INFO] [1591347899.243435298]: Finished frame. Estimates 3

[ INFO] [1591347899.243505630]: Estimate of 112 -0.343007 -0.435511 2.598782 var 0.010044 1.014055
[ INFO] [1591347899.243850347]: Estimate of 111 0.730770 0.049337 2.575151 var 0.010065 1.014076
[ INFO] [1591347899.243931994]: Estimate of 109 0.365006 -0.815333 2.569147 var 0.010000 1.014011
[ INFO] [1591347899.311520818]: Got image 141
^C[fiducial_slam-4] killing on exit
[ INFO] [1591347899.637519055]: Saving map with 4 fiducials to file /home/ubuntu/.ros/slam/map.txt

[aruco_detect-3] killing on exit
[raspicam_node-2] killing on exit
[move_basic-1] killing on exit ...
(more)
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Comments

Hi @AdrianNeoh,

You are not able to see the image because you have a broken tf_tree and rviz is based on a "Fixed frame" to render things. Can you post here the output of rosrun rqt_tf_tree rqt_tf_tree command?

Weasfas gravatar image Weasfas  ( 2020-06-06 05:49:32 -0500 )edit

Hi, I have the exact same problem, just car_1_imu_link in place of odom in OP's question. the tree looks like this link text

adeeb99 gravatar image adeeb99  ( 2020-07-06 14:44:30 -0500 )edit