Can not get the robot pose in the global frame

[NamTruongTran]

Hey Rayman,

thank you so much for you contributions. After i tried your files on my own setup, i get the follow error:

[ERROR] [1698748810.548467419, 69.900000699]: Can not get the robot pose in the global frame. - robot frame: "base_link"   global frame: "map
[ERROR] [1698748810.548530361, 69.900000699]: Could not get the current robot pose!

I don't have a base_link, only a base_footprint.

Do you have a hind for me how i cold solve this?

Thank you in advance.

[Rayman]

The configuration files in this repository are for turtlebot3. If you have a different robot, then you should create your own parameter files.

The parameter you are looking for is found in global and local costmap parameters. The parameter is called robot_base_frame. For the turtlebot they can be found here: https://github.com/ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_navigation/param/global_costmap_params.yaml https://github.com/ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_navigation/param/local_costmap_params.yaml