Error: "map" passed to lookupTransform argument target_frame does not exist.

[Ruanpe]

Device Environment: Ubuntu20.04, ROS Noetic When I run the following the command, source devel/setup.bash && roslaunch lrae_planner exploration_scene1.launch, the results show in the terminal, as shown in above. Please help me solve it! Thanks.

[qingchen-bi]

It is recommended to use the command "rosrun rqt_tf_tree rqt_tf_tree" to check for potential issues with the TF tree.

[Ruanpe]

Image is TF-tree that miss a connection 'map' to 'base_link'.

[qingchen-bi]

`

<remap from="/registered_scan" to="/registered_point_cloud"/>
<remap from="/odometry" to="base_pose_ground_truth"/>
<remap from="/point_cloud" to="velodyne_points"/>
<param name="frame_id" value="map"/>
<param name="child_frame_id" value="sensor"/>
<param name="down_voxel_size" value="0.1"/>
<param name="use_sim_time" value="true"/>

` This node causes this problem. The “slam_sim_output” node should subscribe to the topic "base_pose_ground_truth" and "velodyne_points", which are from Gazebo. However, it does not subscribe to the two topics now according to your rqt_graph. Please check and confirm whether the Gazebo has published the two topics. The topic "base_pose_ground_truth" is from a Gazebo plugin and the topic "velodyne_points" is from Lidiar.

[Jaqen81]

Hi Ruanpe, I had this problem too, solved it by running the two commands in order, not reverse first run: source devel/setup.bash && roslaunch fitplane simulation_scene1.launch then: source devel/setup.bash && roslaunch lrae_planner exploration_scene1.launch

hope this will help