Hi,
I have a world in gazebo(fuerte) with turtlebot in it and I have the map of the world too. After launching the world, when I try to launch the launch file described below, I get this warning:
[ WARN] [1366190909.527997203, 40.084000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:
Launch File:
<launch>
<!-- Run the map server -->
<arg name="map_file" default="$(find turtlebot_navigation)/maps/willow-2010-02-18-0.10.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!--- Run AMCL -->
<include file="$(find turtlebot_navigation)/config/amcl_turtlebot.launch" />
<!--- Run Move Base -->
<include file="$(find turtlebot_navigation)/config/move_base_turtlebot.launch" />
</launch>
I made the map of the environment with a turtlebot when I was using electric and I never used to get this warning in electric. After running this launch, when I do rosrun tf view_frames, /map frame does not show up in the list of frames at all. I referred to the following questions, but I am not able to get the catch.
http://answers.ros.org/question/35844/help-with-navigation-error-transform-from-base_link-to-map/
http://answers.ros.org/question/9928/transform-from-base_link-to-map-navigation-stack-error/
What is the problem here ? Is there file I have to edit before running the launch or am I missing a step ?
Update:
This is my TF tree (Pls save the image and zoom in for a clearer picture).
@Procópio Silveira Stein, I cannot visualise any data on rviz and I am unable to choose the initial pose in rviz. /map frame does not seem to exist at all.
I will try few more tricks and update shortly. Thanks,
Prasanna
Originally posted by prasanna.kumar on ROS Answers with karma: 1363 on 2013-04-17
Post score: 0
Original comments
Comment by prasanna.kumar on 2013-04-17:
I did not understand your question properly. I guess map_server node is publishing the /map frame.
Comment by Procópio on 2013-04-17:
Sorry, I had some typos. As I told, I am not familiar with Gazebo. When using Stage, I think I had to choose an Initial Pose from Rviz to have AMCL started. Can you post an image of your TF tree, using "rosrun tf view_frames" , please?