Hi everyone,<br><br>When I want to run the move_base as the action server for the test code in:<br><a href="http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals">http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals</a><br>

<br>The launch file of the move_base is:<br><blockquote style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;" class="gmail_quote">&lt;launch&gt;<br>    <br>        &lt;param name=&quot;global_costmap/robot_base_frame&quot; value=&quot;/robot_base&quot;/&gt;<br>

        &lt;param name=&quot;global_costmap/global_fram&quot; value=&quot;/world&quot;/&gt;<br>    &lt;node name=&quot;move_base&quot; pkg=&quot;move_base&quot; type=&quot;move_base&quot; respawn=&quot;true&quot;&gt;<br>
    &lt;/node&gt;<br>
<br>&lt;/launch&gt;<br></blockquote><br>It keeps popping up the message in rxconsole:<br><br><blockquote>Node: /move_base<br>Time: 1273663641.651775000<br>Severity: Warn<br>Location: /home/ming/ros/stacks/navigation/costmap_2d/src/costmap_2d_ros.cpp:Costmap2DROS::Costmap2DROS:86<br>

Published Topics: /rosout, /cmd_vel, /move_base/current_goal, /move_base/goal<br><br>Waiting on transform from /robot_base to /map to become available before running costmap, tf error: Frame id /map does not exist!<br></blockquote>

<blockquote><br></blockquote>Which package defines /map should be the global_frame?<br>Does anybody have a clue how to fix the problem?<br><br>Thanks very much!<br><br>Best regards,<br>Ming<br clear="all"><br>-- <br>___________________________________ <br>

Ming Liu<br>Autonomous Systems Laboratory<br>ETH Zurich, CLA E 17.2<br>Tannenstrasse 3<br>8092, Zurich, Switzerland<br>Phone: +41 44 632 92 96<br>Mobile: +41 76 729 50 85<br>Fax:   +41 44 632 11 81<br><a href="mailto:Liu.Ming.PRC@gmail.com">Liu.Ming.PRC@gmail.com</a><br>

<a href="mailto:ming.liu@mavt.ethz.ch">ming.liu@mavt.ethz.ch</a><br>___________________________________ <br>