[ros-users] No transform from map to odom. Please help.

[ian_wk]

Hi ROS community, 

I am having this transform problem regarding static map and odom. Rviz
status show that it  can receive the map but unable to transform from map
--> odom. 

My map size is 560 x 1040 pixel

My amcl file
<launch>
<node pkg="amcl" type="amcl" name="amcl" respawn="true">
  param name="odom_model_type" value="diff"
  param name="odom_alpha5" value="0.1"
  param name="transform_tolerance" value="0.2"
  param name="gui_publish_rate" value="10.0"
  param name="laser_max_beams" value="30"
  param name="min_particles" value="500"
  param name="max_particles" value="5000"
  param name="kld_err" value="0.05"
  param name="kld_z" value="0.99"
  param name="odom_alpha1" value="0.2"
  param name="odom_alpha2" value="0.2"
  param name="odom_alpha3" value="0.8"
  param name="odom_alpha4" value="0.2"
  param name="laser_z_hit" value="0.5"
  param name="laser_z_short" value="0.05"
  param name="laser_z_max" value="0.05"
  param name="laser_z_rand" value="0.5"
  param name="laser_sigma_hit" value="0.2"
  param name="laser_lambda_short" value="0.1"
  param name="laser_lambda_short" value="0.1"
  param name="laser_model_type" value="likelihood_field"
  param name="laser_likelihood_max_dist" value="3.0"
  param name="update_min_d" value="0.2"
  param name="update_min_a" value="0.5"
  param name="odom_frame_id" value="odom"
  param name="base_frame_id" value="base_link"
  param name="global_frame_id" value="map"
  param name="resample_interval" value="1"
  param name="transform_tolerance" value="0.1"
  param name="recovery_alpha_slow" value="0.0"
  param name="recovery_alpha_fast" value="0.0"
  param name="initial_pose_x" value="6"
  param name="initial_pose_y" value="14"
</node>
</launch>

My launch file
<launch>
  <master auto="start"/> 
  
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find
p2os_launch)/navigation_params/map/map.yaml">
  	param name="frame_id" type="str" value="map" 
  </node>
   
  <!-- Starts the visualizer using rviz --> 
   <node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen"
args="-d $(find p2os_launch)/navigation_params/rviz_config/rviz.vcg" /> 

  <include file="$(find p2os_launch)/navigation_params/amcl_node.xml"/>
  <include file="$(find
p2os_launch)/navigation_params/rviz_config/rviz.xml"/>
</launch> 

Can someone point me to the right direction. Thanks.

Cheers,
Ian_wk

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