I am new to using ROS (and Ubuntu) and am reaching out as I've hit a snag. I am trying to use the rtabmap_ros tutorial for mapping and navigation using turtlebot (the simulation portion) and am able to successfully create a map when using:
$roslaunch turtlebot_gazebo turtlebot_world.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
However, when trying the same with a custom world that I've created, the world launches in Gazebo but
roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true g
throws the following error:
Could not get transform from odom to base_footprint after 0.200000 seconds (for stamp=1466.802000)! Error="Could not find a connection between 'odom' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.2 timeout was 0.2.
rosrun tf view_frames
and see that
odom is not connected to
base_footprint. I am not sure how to rectify this.
I am essentially trying to simulate a turtlebot and make it autonomously (without having to use any manual intervention) move around an unknown location and create a map (SLAM) using Gazebo. If there are existing packages or codes that could help me with this please point me in the right direction. I use ROS Kinetic and Ubuntu 16.04 LTS.
Best regards, Malar.
Post score: 0
Comment by kurshakuz on 2019-07-01:
You forgot to include your error message, can you add it now?