No transform from [...] to [map]
See original GitHub issueI run:
ros2 launch linorobot2_bringup bringup.launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard
ros2 launch linorobot2_navigation slam.launch.py rviz:=true
to slam, but I the transform wasn’t working. And rviz has a lot of errors displayed all related to transform.
I’m new to ROS2 and wasn’t able to Identify and fix the problems…
URDF looks ok and working:
Topic list:
/clicked_point
/cmd_vel
/diagnostics
/goal_pose
/imu/data
/initialpose
/joint_states
/map
/map_metadata
/map_updates
/odom
/odom/unfiltered
/parameter_events
/robot_description
/rosout
/scan
/set_pose
/slam_toolbox/feedback
/slam_toolbox/graph_visualization
/slam_toolbox/scan_visualization
/slam_toolbox/update
/tf
/tf_static
- System info System config: 2wd System: Jetson nano OS: Ubuntu 20.04 from Qengineering Base board: Teency 4.0 Lidar: Rplidar IMU: MPU-9250 Motor driver: L298N
Issue Analytics
- State:
- Created a year ago
- Comments:6 (3 by maintainers)
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Silly question, how about the
/scan
topic?Thank you for the head-up! I have found the cause of the problem. I was thinking about where is the laser scan lines goes and I was checking the manual installation. I installed the Rplidar and Realsense drivers and add the environment variables to the![image](https://user-images.githubusercontent.com/30905525/191715681-20977f41-f10c-4a50-8cea-c36c6149e86d.png)
.bashrc
. Out of curiosity, I opened the.bashrc
and I find that theLINOROBOT2_DEPTH_SENSOR
andLINOROBOT2_LASER_SENSOR
variables are not set.After I eddit the![image](https://user-images.githubusercontent.com/30905525/191718035-c11f59d9-9893-4d37-9e5d-64ce7c7ef818.png)
.bashrc
and run the commandsource ~/.bashrc
. The issue was fixed! No more errors.But seems like the Intel Realsense camera still have some issue. But that’s the problem for another day. 😭![image](https://user-images.githubusercontent.com/30905525/191718494-e5ab81af-1299-4d39-ba86-f073a6890fc1.png)
Thank for you help and guidance!