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AMCL map->odom tf-transformation

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.

image description

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

image description

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

AMCL map->odom tf-transformation

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.

image description

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

image description

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

AMCL map->odom tf-transformation

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.

image description

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

image description

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