An error when I run the .launch file using my own data?

[ikunjin]

Hi @koide3 When I use my own data ,the following error occured . The computer system is ubuntu18.

failed to find transform between base_link and camera terminate called after throwing an instance of 'tf2::LookupException' what(): "camera" passed to lookupTransform argument source_frame does not exist. [prefiltering_nodelet-3] process has finished cleanly log file: /home/tyjin/.ros/log/100c9bba-169a-11ea-991c-701ce76408d9/prefiltering_nodelet-3*.log [floor_detection_nodelet-5] process has finished cleanly log file: /home/tyjin/.ros/log/100c9bba-169a-11ea-991c-701ce76408d9/floor_detection_nodelet-5*.log [hdl_graph_slam_nodelet-6] process has finished cleanly log file: /home/tyjin/.ros/log/100c9bba-169a-11ea-991c-701ce76408d9/hdl_graph_slam_nodelet-6*.log [scan_matching_odometry_nodelet-4] process has finished cleanly log file: /home/tyjin/.ros/log/100c9bba-169a-11ea-991c-701ce76408d9/scan_matching_odometry_nodelet-4*.log [velodyne_nodelet_manager-2] process has died [pid 29621, exit code -6, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=velodyne_nodelet_manager __log:=/home/tyjin/.ros/log/100c9bba-169a-11ea-991c-701ce76408d9/velodyne_nodelet_manager-2.log]. log file: /home/tyjin/.ros/log/100c9bba-169a-11ea-991c-701ce76408d9/velodyne_nodelet_manager-2*.log ^C[map2odom_publisher-7] killing on exit [lidar2base_publisher-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

Could you help me find the solution about this error? Thanks a lot!!!

[koide3]

Hi @ikunjin , You need to define the transformations between your sensors using TF. You can use static_transform_publisher to do it.