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ros / geometry2

A set of ROS packages for keeping track of coordinate transforms.
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Could not obtain transform base_link warnings #505

Closed rakshith95 closed 3 years ago

rakshith95 commented 3 years ago

Hello, 

 <group if="$(arg enable_ekf)" >   
   <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">    
      <rosparam command="load" file="$(arg ekf_yaml_path)" />  
      <param name="map_frame"       value="map"/>  
      <param name="odom_frame"      value="$(arg ns)/odom"/> 
      <param name="base_link_frame" value="$(arg ns)/base_link"/> 
      <param name="world_frame"     value="$(arg ns)/odom"/>  
    </node>  
  </group>

The above are the relevant lines in my launch file, but when I try it to run it, there are warnings thrown and the functionality is not as expected. The warnings are as below:

[WARN] [1617652671.519795535, 1553.900000000]: Could not obtain transform from base_link to jackal2/base_link. Error was "base_link" passed to lookupTransform argument source_frame does not exist. 
[ WARN] [1617652673.364580966, 1555.740000000]: Could not obtain transform from base_link to jackal1/base_link. Error was "base_link" passed to lookupTransform argument source_frame does not exist.

I don't understand why these would come up since I am specifically assigning a base_link_frame. Why does it matter if "base_link" exists or not?