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AMCL map->odom tf-transformation

asked 2012-12-06 02:18:02 -0500

Tirgo gravatar image

updated 2014-01-28 17:14:29 -0500

ngrennan gravatar image

Hi everybody

I have a question regarding the tf transformation which is published by amcl. I'm working with a husky so i use the amcl_demo.launch file to start amcl.

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I build an tf tree for my lasescanner and the odometry of the robot.

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I'm using 2 static broadcaster for the transformations base_footprint->base_link->laser

robot_pose is publishing the transform odom -> base_footprint

My problem is: If i start amcl it is not publishing the transform from map->odom. I'm getting the warning "Waiting on transform from /base_link to /map to become available before running costmap, tf error:" So in my understanding amcl should provide the missing transform map->odom to finish the tf tree. So why is it waiting for a transform between base_link and map?

Hoping for some help

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answered 2012-12-06 03:22:26 -0500

updated 2012-12-06 03:22:48 -0500

It is not obvious from your description how you are loading the prior map into amcl. Are you running a map server in conjunction with it?

Also, could you post the output of amcl? You can modify your launch file to say

 <node pkg=... type=... node=... output="screen">

or find the appropriate log file.

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Asked: 2012-12-06 02:18:02 -0500

Seen: 2,102 times

Last updated: Dec 06 '12