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Publishing a xform from /map to /base_link?

asked 2011-03-10 08:06:27 -0500

jdt141 gravatar image

Hey all -

Trying to get up to speed on the NavStack. Presently, when I run the launch file, I get the following error:

Waiting on transform from base_link to /map to become available before running costmap, tf error: Frame id /map does not exist!

Presently, my tf tree looks like this odom->base_link->base_laser. It makes sense that the tree should look like this: /map->odom->base_link->base_laser, however, I'm not sure A) who's responsibility it is to broadcast that transform and B) how to compute said transform. Any and all assistance would be greatly appreciated.

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answered 2011-03-10 08:29:23 -0500

raphael favier gravatar image

If I am not wrong, that would be the responsibility of your positioning system to do that. (amcl, gmapping...). It all depends what positioning solution you decide to use.

Have a look at the navigation tutorials, and in particular the robotsetup one. It is all explained there.

Raph

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Raph - Thanks very much. I had read the tutorial, and it was helpful but the gmapping documentation was more illuminating: http://www.ros.org/wiki/gmapping#Provided_tf_Transforms
jdt141 gravatar image jdt141  ( 2011-03-10 12:23:02 -0500 )edit

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Asked: 2011-03-10 08:06:27 -0500

Seen: 280 times

Last updated: Mar 10 '11