Question

I am following this tutorial on navigation to perform localization. I copied the exact same code that was provided in the reference but I am getting errors in RViz and terminal.

Warning: Invalid frame ID "map" passed to canTransform argument targetframe - frame does not exist at line 93 in ./src/buffercore.cpp
Global Status: Error - Fixed Frame [map] does not exist.
Map Status: Warning - No map received
RobotModel Status:Error - No transform from [link_name] to [map]

I am also not able to visualize the robot and map as shown in RViz in the tutorial. I tried searching a lot on this issue but was not able to find a resolution. Appreciate your help.

Asked by Noob8899 on 2023-07-25 19:03:17 UTC

Answer 1

I got to know that adding a static transform publisher solves the problem.

<launch>
static_transform_publisher_node = Node(
    package='tf2_ros',
    executable='static_transform_publisher',
    name='link1_broadcaster',
    arguments=['0', '0', '0', '0', '0', '0', '1', 'map', 'odom'],
    output='screen',
</launch>

 ld.add_action(static_transform_publisher_node)  # Add the static transform publisher node

Asked by Noob8899 on 2023-07-25 19:45:30 UTC

Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

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