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RVIZ2 : No Transform from [base_link] to [Map]

asked 2021-11-23 04:24:29 -0500

sandy gravatar image

updated 2022-03-25 17:28:11 -0500

lucasw gravatar image

OS : Ubuntu 20.04.3 LTS

Environment : Autoware, ROS2, ade-foxy, Nvidia

Issue : RVIZ2 Failed No Transform from [base_link] to [map]

I have installed autoware ade-foxy on Ubuntu and try to run valet_parking using below link : https://autowarefoundation.gitlab.io/...

But when I launch RVIZ2 it gives me an error :

No Transform from [base_link] to [Map]

No Transform from [camera] to [Map]

No Transform from [gnss] to [Map]

No Transform from [imu] to [Map]

Any suggestion to resolve this issue?

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answered 2021-11-23 17:06:51 -0500

Geoff gravatar image

The documentation you linked to gives the solution in the first section. It states that until localisation is successful, the transform errors will occur. It asks you to do one of the following to fix this:

There are two ways to send an initial guess of the vehicle pose to the system:

  • Select pose graphically in RViz.
  • Publish a pose in the terminal.
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I tried with ndt-initialization steps mentioned in the document. But it still don't resolve this issue, https://autowarefoundation.gitlab.io/...

sandy gravatar image sandy  ( 2021-11-24 01:28:11 -0500 )edit
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answered 2021-11-26 01:06:36 -0500

sandy gravatar image

updated 2021-11-26 01:07:35 -0500

I fix my issue in the below way :

My LGSVL Bridge was broken. So when I added ROS2ForUnitySVLBridge, Also I need to copy *.dll and *.so file to the plugin folder. https://autowarefoundation.gitlab.io/... re.auto/AutowareAuto/lgsvl.html

 For Details refer section : Adding ROS2ForUnitySVLBridge

And then complete the localization.

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Asked: 2021-11-23 04:24:29 -0500

Seen: 132 times

Last updated: Nov 26 '21