Problem running Pilot for turtlebot3

[chcorbato]

After following the installation instructions for the Turtlebot3, I try to run it, but It seems there is a problem in relation to the transform from /map to /odom frames in RVIz, and the map is not visualized. Probably I'm doing something wrong when launching. Help is appreciated.

In one terminal I did (no apparent errors reported):

$ ros2 launch pilot_urjc_bringup tb3_sim_launch.py 

In a second terminal:

$ ros2 launch pilot_urjc_bringup nav2_turtlebot3_launch.py
[...]
[rviz2-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.4/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "map" passed to canTransform argument source_frame - frame does not exist

[jginesclavero]

Yes, you must use our dummy_metacontroller and set the Normal Mode -- ros2 run metacontroller_pilot metacontroller. You don't need to set the Initial Pose with RVIz, only set the NORMAL mode and everything will start up.

[chcorbato]

Thanks! It works. Maybe a idea to help clumsy people like me is to add in the README, for each main step in the deployment/usage:

• expected result (e.g. RVIz opens, you should see...)
• link to next step

[jginesclavero]

Ok! Thank you for your feedback. I will include in the next README's version.