tf error: 找不到map和footprint连接

Question

 在建立实物ros小车，roslaunch中，

<node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="-0.2 0 0.185 0 0 0 base_link laser 100"/> 
  <node pkg="tf" type="static_transform_publisher" name="base_to_footprint" args="0 0 0 0 0 0 base_link base_footprint 100"/>
<node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /map /odom 1000"/>

报错

[ WARN] [1611967685.467875755]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.102852 timeout was 0.1.
 

查结构树，两者未建立连接。

问题；如何修订建立两者之间的连接。

 

 

Answer 1

你写的TF关系并没有形成树形结构，map子节点odom，base_link子节点是laser 、base_footprint ，找不到map到base_footprint 的关系，如果增加一条：odom到子节点base_link的TF关系，就没问题了