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

[ian_wk]

Hi Tully,

I tried using the debugging tools. But it say that the /map frame does not
exist.

Failure at 1285669196.016388955
Exception thrown:Frame id /map does not exist! When trying to transform
between /odom and /map.
The current list of frames is:

Do I need to provide the laser scan topic before amcl can work? 
Right now, I launch map_server and amcl only.

Cheers,
Ian_wk



tfoote wrote:
> 
> Ian,
> Have you tried any of the tf troubleshooting suggestions?
> http://www.ros.org/wiki/tf/Troubleshooting or the debugging tools?
> http://www.ros.org/wiki/tf/Debugging%20tools
> 
> <http://www.ros.org/wiki/tf/Debugging%20tools>Tully
> 
> On Sun, Sep 26, 2010 at 8:09 PM, ian_wk <i2rshuttle at gmail.com> wrote:
> 
>>
>> 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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> 
> 
> 
> -- 
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com
> (650) 475-2827
> 
> _______________________________________________
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> ros-users at code.ros.org
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> 
> 

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