No transform from /base_footprint to /map

[ShankssD]

Hi, thank you very much for making this repository public. I am able to make the code fine using catkin_make but when I run the second launch file I do not receive the successful odometry message.

The respective launch file is: roslaunch global_path_planning turtlebot3_ros_world.launch

The error message recieved is: [ WARN] [1683553082.320970026, 141.340000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.1 timeout was 0.1

I have tried to publish a static transform (and am able to get the successful odometry message). This does however means the robot never moves from this position.

Your help is greatly appreciated! Thanks