[ros-users] tf error: frame base_link do not exist

nitinDhiman nitinkdhiman at gmail.com
Tue Jul 27 10:22:28 UTC 2010

Hello everybody,
I have boxturtle installed using debs. I am trying to interact with pioneer
3dx. I have following launch file

<node pkg="tf" type="static_transform_publisher" name="sonar1_to_baseLink"
args="-0.1 -0.13 -0.08 1.57 0 0  base_link  sonar1 100"/>
<node pkg="p2os_driver" type="p2os" name="p2os" >

I listening to transform using code, which is similar to tutorial in tf: 

#include <ros/ros.h>
#include <tf/transform_listener.h>

int main(int argc, char ** argv)
  ros::init(argc, argv, "sonar1_tf_listener");
   ros::NodeHandle node;
   tf::TransformListener listener;
   ros::Rate rate(10.0);
     tf::StampedTransform transform;
     } catch(tf::TransformException ex){
       ROS_ERROR(" %s ", ex.what());
     ROS_INFO(" x=%f y=%f z=%f child=%s frameId=%s ",
transform.getOrigin().x(), transform.getOrigin().y(),
transform.getOrigin().z(), transform.frame_id_,
transform.child_frame_id_);//,  transform.getOrigin().yaw());
   //  ROS_INFO(" Quaterion x=%f y=%f z=%f w=%f
",transform.getRotation().x() , transform.getRotation().y(),
transform.getRotation().z(), transform.getRotation().w());
  return 0;

I am getting following error which I am not able to resolve :
nitin at tangri:/opt/ros/boxturtle/experimental/pioneer-interaction$ rosrun
pioneer-interaction tfListenerSonar1 
[ERROR] 1280226258.499191000:  Frame id /base_link does not exist! When
trying to transform between /sonar1 and /base_link.

I have some previous posts about such errors but no help. Frames are
connected correctly as odom-->base_link-->sonar1
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