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Do I need a transform for my map?

asked 2011-03-18 07:52:07 -0600

Murph gravatar image

I'm trying to view my map in rviz and it says "No transform from [map] to [/base_link]".

It also seems to be displaying my map in the YZ plane.

I haven't seen it mentioned elsewhere, though. Am I supposed to provide a transformation for the map?

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answered 2011-03-18 08:07:28 -0600

Eric Perko gravatar image

You will need a transform from the /map frame to /base_link. However, there only needs to be a path between /map and /base_link, not a direct transform. Usually, the transform setup looks something like /map->/odom->/base_link.

These transforms are usually provided by a localization node such as amcl or a SLAM node such as gmapping.

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I'm trying to run the navigation stack. As you know, in the navigation stack there is a amcl_node. Well, I publish this node and I can see them in rxgraph, but it is not publishing the tf map -> odom and I receive this error. What I'm doing wrong?? Thanks! "Waiting on transform from /base_link to /map to become available before running costmap, tf error: Frame id /map does not exist!"
mbj gravatar image mbj  ( 2011-05-19 00:03:21 -0600 )edit
@mbj: If this question and answer isn't solving your problem (and none of the others on ROS Answers is either), please ask a new question, including anything you have tried to solve your problem but has failed.
Eric Perko gravatar image Eric Perko  ( 2011-05-19 05:36:11 -0600 )edit

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Asked: 2011-03-18 07:52:07 -0600

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Last updated: Mar 18 '11