NAVIGATION ISSUE: tf error: canTransform: target_frame map does not exist

Hi I’ve generated my public rosject ROS_IC1_POMOS for outdoor navigation inspired to the jackal project.
I first run the robot generation:
roslaunch ros_ic1_description start_ros_ic1.launch

therefore, I run the the file in the jackal tool folder as follows:
roslaunch my_jackal_tools start_navigation_with_gps_ekf_ros_ic1.launch

The following error appear:
Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 0.1 timeout was 0.1.
And warning
Transform from base_link to odom was unavailable for the time requested. Using latest instead.

In the the tf tree frame does not appear the map frame that should be connected with the odom frame as you can see.

Also, if I don’t set “odom” to the world frame (instead of “map”) in the robot localization yaml file (see robot_localization_with_gps_ros_ic1.yaml in folder my_jackal_tools/config) , the odom frame won’t appear either.

I do not understawhere should be the problem and how to fix it.
Can you help me?


1 Like

Hello, i am also new to ros and don’t know your exact problem but can you tell me if you are providing a map for outdoor navigation?