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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.

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

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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


Originally posted by Tirgo on ROS Answers with karma: 66 on 2012-12-06

Post score: 0


Original comments

Comment by Oysster on 2020-08-09:
Hey Tirgo, i got the same problem. Would you like to tell how to solve the problem?

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It is not obvious from your description how you are loading the prior map into amcl. Are you running a map server in conjunction with it?

Also, could you post the output of amcl? You can modify your launch file to say

 <node pkg=... type=... node=... output="screen"> 

or find the appropriate log file.


Originally posted by Ivan Dryanovski with karma: 4954 on 2012-12-06

This answer was ACCEPTED on the original site

Post score: 0

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