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Hi all, this has been a ongoing battle which I am loosing, the wiki is not the easiest thing to follow.

So I have a robot (2 wheel, running Lidar)

  • It runs Hector Slam which gives me /odom
  • it can be moved by teleop (nav_msg)

I have created all the files in http://wiki.ros.org/navigation/Tutorials/RobotSetup (move_base running on robot)

I have also setup RVIZ as shown in http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack

However in RVIZ when I press 2D Nav Goal, bugger all happens. Current errors I seem to be seeing No transform between frames /map and /base_link available after 20.003237 seconds of waiting. This warning only prints once

[ WARN] [1485103992.288786277]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.101515 timeout was 0.1.

The problem is I am getting super confused now, going via the Tutorials, things like URDF come up which I dont think I need because of the YAML file? This like build a tf_broadcaster also appear?

**Theres are my topics : Maybe it does not match the yaml file?

  • /cmd_vel
  • /initialpose
  • /map
  • /map_metadata
  • /poseupdate
  • /rosout
  • /rosout_agg
  • /rpms
  • /scan
  • /slam_cloud
  • /slam_out_pose
  • /syscommand
  • /tf
  • /tf_static**

I am sure its such a simple thing I am missing!

Originally posted by burf2000 on ROS Answers with karma: 202 on 2017-01-22

Post score: 0

Original comments

Comment by ahendrix on 2017-01-22:
It looks like you're missing the TF transform between /map and /base_link (TF frames; not topics). It would be helpful to run rosrun tf view_frames or rqt_tf_tree to look at the TF tree (and post the results here if you can)

Comment by burf2000 on 2017-01-23:
I used files from here https://github.com/DaikiMaekawa/navigation2d_example but not sure what fixed it yet


1 Answer 1


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So I found this https://github.com/DaikiMaekawa/navigation2d_example and used their yaml files and edited more launch files and it now works.

Originally posted by burf2000 with karma: 202 on 2017-01-23

This answer was ACCEPTED on the original site

Post score: 0


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