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robot_localization transform warning

asked 2021-01-19 16:00:59 -0500

RichardIV gravatar image

Greetings, I am using robot_localization package to navigate with GPS, I have set two ekf nodes (map and odom) and a nav_transform node. when I launch simulation, first thing to notice in RVIZ is the odom frame that keeps moving randomly besides getting this warning transform from base_footprint to map was unavailable for the time requested. Using latest instead. I am not sure what is the issues, I checked GPS and IMU and they were published correctly. Does anyone encountered the same issue ?.

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Which node is responsible for publishing the /base_link to /map transform?

skpro19 gravatar image skpro19  ( 2021-01-20 18:29:55 -0500 )edit

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answered 2021-01-26 14:18:13 -0500

RichardIV gravatar image

I managed to solve the error, the frames instability in RVIZ was caused by a transform broadcast of base_link -> odom from gazebo odometry besides the ekf node, I had to disable it in the robot URDF by setting <broadcastTF> tag to false. For the warn message I used the solution discussed here .

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answered 2021-01-19 18:18:25 -0500

So Young gravatar image

Hi,

Your warning says the transform from base_footprint to map was unavailable, so maybe you should check the rqt tf tree( rosrun rqt_tf_tree rqt_tf_tree) and see the publishing rate for each frame. tfs might be published at different rates and this could cause those warning. Thanks.

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Yes, viewing the tf tree is the best solution to make sure your tf's are all in place. Also, make sure you have changed the base frame id to base_footprint in robot_localization because by default it expects base_link. An easier thing to do would be to change your frame_id from base_footprint to base_link.

Akhil Kurup gravatar image Akhil Kurup  ( 2021-01-19 18:53:31 -0500 )edit

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Asked: 2021-01-19 16:00:59 -0500

Seen: 54 times

Last updated: Jan 26