Nav2 localcostmap no transform from odom to map

asked 2020-06-09 14:54:09 -0500

Chris91 gravatar image


I'm using ros2 dashing + turtlebot3 + kinect + cartographer. I use cartographer for localization instead of amcl. Working more or less fine. The problem is, the navigation localcostmap in rviz warns that there is no transform from /odom to /map. But when i look @ tf tree there is clearly a valid transform from /odom to /map.

What i'm I doing wrong here ? Here is my yaml configuration file. Has anybody an idea what to search for ? The only information i could find is this issue on github.

Thanks in regards.

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this sounds like a cartographer problem, you may want to change the title to get someone familiar with cartographer to jump in. Does AMCL work when you use that?

stevemacenski gravatar image stevemacenski  ( 2020-06-09 20:21:26 -0500 )edit

I can't use amcl for now, because I'm not using something like pointcloud_to_laserscan. I will change the title but i think cartographer is working fine. It is posting a map on /map it's also publishing to the tf tree. There is a transform from map -> odom -> base_link -> to the rest of the bot. It's also posting a pose, because you can set a goal on the map, and the bot is moving towards it. The global costmap is online, just the local costmap is not showing up in rviz saying no transform from odom -> to map. I will add a picture later on.

Chris91 gravatar image Chris91  ( 2020-06-10 03:41:18 -0500 )edit

I'm asking you to try something like AMCL that we know works to verify that its cartographer rather than trying to guess at what your issue is. Configure pointcloud to laserscan and get AMCL up and running to verify.

stevemacenski gravatar image stevemacenski  ( 2020-06-10 11:19:08 -0500 )edit

I will try it out when i find the time. I setup the same configuration under ROS1 and it's working. So i might just use that for now.

Chris91 gravatar image Chris91  ( 2020-06-10 14:06:35 -0500 )edit