cartographer_node is not publishing 'map' tf frame. Fixed frame map does not exist.

ISSUE TEMPLATE ver. 0.0.1

1. Which TurtleBot3 you have?

• burger
• waffle
• waffle pi

1. Which SBC(Single Board Computer) is working on TurtleBot3?

• Raspberry Pi 3
• Intel Joule
• etc (PLEASE, WRITE DOWN YOUR SBC HERE)

1. Which OS you installed in SBC?

• Ubuntu MATE 16.04 or later
• Raspbian
• etc (PLEASE, WRITE DOWN YOUR OS)

1. Which OS you installed in RemotePC?

• Ubuntu 16.04 LTS (Xenial Xerus)
• Ubuntu 18.04 LTS (Bionic Beaver)
• Linux Mint 18.X
• etc (PLEASE, WRITE DOWN YOUR OS)

1. Write down software version and firmware version

• Software version : [0.1.2]
• Firmware version : [1.1.2]

1. Write down the commands you used in order

[RemotePC] roscore [SBC] roslaunch turtlebot3_bringup turtlebot3_robot.launch [RemotePC] roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer

1. Copy and Paste your error message on terminal

after launch cartographer it said no map tf publish https://asciinema.org/a/tLSrUgDJCbJcnFlXRI0SHN7PX so I force it to publish map with rosrun tf static_transform_publisher 0 0 0 0 0 0 world map 10 got error.

I think it is relate to issue cartographer_node is not publishing ‘map’ tf frame. Fixed frame map does not exist. googlecartographer/cartographer_ros#300 googlecartographer/cartographer_ros#202

I guess it’s .lua configuration , not yet looks into details.

[ WARN] [1501071021.570063704]: W0726 20:10:21.000000 14280 tf_bridge.cc:51] Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty
Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
         at line 122 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp
^CWarning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
         at line 122 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp

1. Please, describe detailedly what difficulty you are in

cartographer_node is not publishing ‘map’ tf frame. Fixed frame map does not exist. TF terminology issue?

[robotpilot]

It seems to have misunderstood. I have cloned the cartographer and cartographer_ros master branch, built it from source code, and used it in ROS Kinetic.

[robotpilot]

Hi @YuehChuan, This is an issue that we have not seen before. I will close this issue and open a new issue thread. Thanks!