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Autoware Auto - Transform from nav_base to base_link is unavailable.

asked 2021-04-10 10:25:35 -0500

kk2105 gravatar image

updated 2021-04-11 09:21:11 -0500


I am new to Autoware and I have recently started working on the setting up the Autoware.

I have successfully installed the Autoware with ADE using the link here.

I am following the link to configure the LGSVL Simulator.

I have created a test simulation using vehicle Lexus2016RXHybrid (Autoware) and map SingleLaneRoad. As mentioned in the document I have copied the sensor data from here.

I am getting the transformation error when I try to run the below steps,

$ ade enter
ade$ source /opt/AutowareAuto/setup.bash
ade$ ros2 run lgsvl_interface lgsvl_interface_exe --ros-args --params-file /opt/AutowareAuto/share/lgsvl_interface/param/lgsvl.param.yaml

Error details:

[ERROR] [1618066657.298942991] [lgsvl_interface]: Transform from nav_base to base_link is unavailable. Waiting...
Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp
[ERROR] [1618066658.298681311] [lgsvl_interface]: Transform from nav_base to base_link is unavailable. Waiting...

I would be great help if you could help me to find the fix for this.

Thank you, KK

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Hello have you resolved the issue? Can you provide more insight what command did you used?

George123 gravatar image George123  ( 2021-05-23 16:39:30 -0500 )edit

You need to run the below command: ros2 run robot_state_publisher robot_state_publisher lexus_rx_450h.urdf Let me know if there are any other questions.

kk2105 gravatar image kk2105  ( 2021-05-23 19:30:05 -0500 )edit

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answered 2021-04-11 20:49:45 -0500

Josh Whitley gravatar image

updated 2021-04-11 20:50:37 -0500

The transform from nav_base to base_link is the offset between the center of gravity (nav_base) and the center of the rear axle (base_link). This can either be published with a static_transform_publisher or by providing a URDF file to the robot_state_publisher. We provide a URDF file for the Lexus under src/urdf/lexus_rx_450h_description/urdf/. Or, if you are using ade, you can also find it under /opt/AutowareAuto/share/lexus_rx_450h_description/urdf/. See for more information.

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Thanks for the response, I will try the above steps and let you know if any queries.

kk2105 gravatar image kk2105  ( 2021-04-11 21:15:18 -0500 )edit

This helped me to setup the autoware with LGSVL. Thanks for your help.

kk2105 gravatar image kk2105  ( 2021-04-20 22:08:49 -0500 )edit

If this fixed the issue, please press the grey check button so others can see it too.

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kak13 gravatar image kak13  ( 2021-08-18 13:05:01 -0500 )edit

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Asked: 2021-04-10 10:25:35 -0500

Seen: 435 times

Last updated: Apr 11 '21