Error static transform publisher
ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]
I am doing amcl laser scan on stage simulator and I've got this error when I try to roslaunch my .launch file.
Here's my launch file. ( I split it into two .launch file)
stage_simulate.launch
<launch>
<master auto="start"/>
<!-- Run the map server -->
<!-- <node name="map_server" pkg="map_server" type="map_server" />-->
<!--<node name="map_server" pkg="map_server" type="map_server" args="$(find my_map_package)/mymap.yaml"/>-->
<!--- Run AMCL -->
<!-- <include file="$(find amcl)/examples/amcl_omni.launch" /> -->
<!--- stage world -->
<node pkg="stage" type="stageros" name="stage" cwd="node" args="/home/user/fuerte_workspace/sandbox/worldmap/willow-four-erratics.world" respawn="false" output="screen">
</node>
<!--- dynamic_reconfigure -->
<node pkg="dynamic_reconfigure" type="reconfigure_gui" respawn="false" name="reconfigure_gui" output="screen"/>
</launch>
stage_split.launch
<launch>
<master auto="start"/>
<!--- rviz -->
<node pkg="rviz" type="rviz" respawn="false" name="rviz" args="/home/user/fuerte_workspace/sandbox/worldmap/display_config.vcg" output="screen"/>
<node pkg="tf" type="static_transform_publisher" name="tf_broadcaster" args="1 0 0 0 0 0 base_link base_scan 100" />
</launch>
Output from stage_simulate.launch
... logging to /home/user/.ros/log/94773422-264c-11e3-9636-0022fb8421da/roslaunch-ubuntu-3214.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
WARNING: ignoring defunct <master /> tag
started roslaunch server htp://ubuntu:35981/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
/
reconfigure_gui (dynamic_reconfigure/reconfigure_gui)
stage (stage/stageros)
ROS_MASTER_URI=htp://localhost:11311
core service [/rosout] found
process[stage-1]: started with pid [3234]
process[reconfigure_gui-2]: started with pid [3235]
[Loading /home/user/fuerte_workspace/sandbox/worldmap/willow-four-erratics.world][Image "willow-full.pgm"]
[ INFO] [1380159864.910827049]: found 1 position/laser pair in the file
reconfigure_gui started
Output of stage_split.launch
... logging to /home/user/.ros/log/94773422-264c-11e3-9636-0022fb8421da/roslaunch-ubuntu-3581.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
WARNING: ignoring defunct <master /> tag
started roslaunch server htp://ubuntu:33620/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
/
rviz (rviz/rviz)
tf_broadcaster (tf/static_transform_publisher)
ROS_MASTER_URI=htp://localhost:11311
core service [/rosout] found
process[rviz-1]: started with pid [3607]
ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]
[ INFO] [1380159895.148350411]: rviz revision number 1.8.17
[ INFO] [1380159895.148487370]: compiled against OGRE version 1.7.3 (Cthugha)
[ INFO] [1380159895.278180259]: Loading general config from [/home/user/.rviz/config]
[ INFO] [1380159896.729459922, 31.700000000]: Texture for pass 0: creating with size 1 x 1
[ INFO] [1380159896.730790120, 31.700000000]: Texture for pass 1: creating with size 1 x 1
[ WARN] [1380159897.604848196, 32.500000000]: Message from [/stage] has a non-fully-qualified frame_id [base_laser_link]. Resolved locally to [/base_laser_link]. This is will likely not work in multi-robot systems. This message will only print once.
[ WARN] [1380160015.008231130, 149.900000000]: Message from [/stage] has a non-fully-qualified frame_id [base_laser_link]. Resolved locally to [/base_laser_link]. This is will likely not work in multi-robot systems. This message will only print once.
[ WARN] [1380160057.864622087, 192.800000000]: Message from [/amcl] has a non-fully-qualified frame_id [map]. Resolved locally ...
I don't see anything wrong with the syntax of your launch file. What version of ROS are you on? Do you have `tf` properly installed? What happens if you execute `rosrun tf static_transform_publisher 1 0 0 0 0 0 base_link base_scan 100`?
I am using fuerte. Nothing actually happen. Another problem happened when I launch the second .launch file. [ WARN] [1380074027.654405625]: Message from [/stage] has a non-fully-qualified frame_id [base_laser_link]. Resolved locally to [/base_laser_link]. This is will likely not work in multi-robot systems. This message will only print once.
Do you mean nothing happens when you try `rosrun tf static_transform_publisher 1 0 0 0 0 0 base_link base_scan 100`? No output at all? Just return to the prompt? (note: the number of parameters in that rosrun command is wrong. You need another number before base_link as a quaternion is 4 numbers).
No return to the prompt, I must Ctrl+C to stop it even though there is nothing. How is it suppose to be like? I actually refer to tf tutorial of ROS. Quaternion is something like 0 0 0 1?
Actually 3 arguments for rotation is OK. In that case it interprets those as euler angles.
No output to the screen is the behaviour when it is working successfully. It shouldn't put output to the screen; instead it publishes to the /tf topic. You can see if the transform is broadcasting by typing `rosrun tf view_frames` or suchlike in another terminal. Thanks for the correction dornhege.
So the rosrun command seems to be working but not the roslaunch. This may help others help you: give the output of `env|grep ROS` and `env|grep PATH`. Also do give the full command you use to launch the roslaunch file and its full output. You can edit the question and add it to the bottom.
Does the rviz node in the same launch come up?