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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.


Originally posted by jdt141 on ROS Answers with karma: 118 on 2011-03-10

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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


Originally posted by raphael favier with karma: 1382 on 2011-03-10

This answer was ACCEPTED on the original site

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Original comments

Comment by jdt141 on 2011-03-10:
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

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