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how to solve the frame ID setting warning?

asked 2012-06-19 19:23:19 -0500

jas gravatar image

updated 2012-06-21 22:33:51 -0500

Do you have any idea ** to correct the following warning setting?

[WARN] [1340092854.777455509]: Message from [/hokuyo] has a non-fully-qualified

frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once. [WARN] [1340092854.968655384]: Message from [/hector_mapping] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once. [ERROR][1340123076.274228430]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map] [ERROR] [1340123076.523439543]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map]

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answered 2012-07-23 22:50:07 -0500

tfoote gravatar image

Set the frame_id to /laser and the warnings will go away.

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Although I agree that this solution will work for single robot settings, I think a better and more robust solution is given here: https://code.ros.org/trac/ros-pkg/ticket/5511

kedarm gravatar image kedarm  ( 2013-10-03 06:50:27 -0500 )edit
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answered 2012-06-21 23:09:20 -0500

prince gravatar image

updated 2012-06-21 23:19:56 -0500

Frames gets defined in a hierarchy like parent_frame/child_frame. If a frame do not have any parent, it is defined as /frame. First warning is :

 Message from [/hokuyo] has a non-fully-qualified  frame_id [laser]. Resolved locally to [/laser].

It is advisable to fully specify the hierarchy when using frames as using just name could lead to ambiguity in choosing the correct frame. This will definitely cause problem in multi-robot scenario. About following errors:

[ERROR][1340123076.274228430]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map] [ERROR] [1340123076.523439543]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map]

You are not publishing tf for: map --> base_link

Point no. 17 at link http://www.ros.org/wiki/tf/FAQ will be helpful

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Asked: 2012-06-19 19:23:19 -0500

Seen: 1,734 times

Last updated: Jul 23 '12