On Fri, May 14, 2010 at 2:36 AM, 刘明 <liu.ming.prc@gmail.com> wrote:

Hi everyone,

Thanks for you kind and prompt replies.

But the move_base is still asking for a frame with frame_id /base_link (output in rxconsole):
Waiting on transform from base_link to /map to become available before running costmap, tf error: Frame id /base_link does not exist!
when I launch the launch-file as below, where of course I have corrected the naive spelling mistake @-| , as:

<launch>

        <param name="global_costmap/robot_base_frame" value="/robot_base"/>
        <param name="global_costmap/global_frame" value="/world"/>
    <node name="move_base" pkg="move_base" type="move_base" respawn="true">
    </node>

</launch>

We had a transformation .yaml before, which I forgot to mention.
The result of
$ rosrun tf view_frames
$ evince frames.pdf
showed that the frames are correctly linked.

The result of
$rosrun tf tf_echo /robot_base /world
returns correct transformation when I move the robot around.

I also output the parameters got by "move_base" node, by adding:

ROS_INFO("FrameIDs: %s %s", robot_base_frame_.c_str(), global_frame_.c_str());

to move_base.cpp:66. The output from the rxconsole is FrameIDs: /robot_base /world which is correct.

It sounds like the parameters are not correctly passed to the costmap or else nodes. Any other hints?

Best regards,
Ming

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