• ROS2导航运行TurtleBot模拟器报错

    安装 ROS2 galactic版本：

    Ubuntu (Debian) — ROS 2 Documentation: Galactic documentation

    安装导航依赖包（Installation）

    https://navigation.ros.org/getting_started/index.html

    1. Install the ROS 2 binary packages as described in the official docs

    2. Install the Nav2 packages using your operating system’s package manager:

      sudo apt install ros--navigation2
sudo apt install ros--nav2-bringup

    3. Install the Turtlebot 3 packages:

      sudo apt install ros--turtlebot3*

    运行示例（Running the Example），第3步报错

    1. Start a terminal in your GUI

    2. Set key environment variables:

      source /opt/ros//setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros//share/turtlebot3_gazebo/models

    3. In the same terminal, run

      ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

    关键日志：

    [controller_server-8] [INFO] [1661054727.822247083] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

    详细日志：

    1. konga@ubuntu:~$ ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
    2. [INFO] [launch]: All log files can be found below /home/konga/.ros/log/2022-08-21-12-05-20-003298-ubuntu-22365
    3. [INFO] [launch]: Default logging verbosity is set to INFO
    4. [INFO] [gzserver-1]: process started with pid [22367]
    5. [INFO] [gzclient-2]: process started with pid [22369]
    6. [INFO] [robot_state_publisher-3]: process started with pid [22371]
    7. [INFO] [rviz2-4]: process started with pid [22373]
    8. [INFO] [map_server-5]: process started with pid [22375]
    9. [INFO] [amcl-6]: process started with pid [22377]
    10. [INFO] [lifecycle_manager-7]: process started with pid [22379]
    11. [INFO] [controller_server-8]: process started with pid [22382]
    12. [INFO] [planner_server-9]: process started with pid [22402]
    13. [INFO] [recoveries_server-10]: process started with pid [22411]
    14. [INFO] [bt_navigator-11]: process started with pid [22418]
    15. [INFO] [waypoint_follower-12]: process started with pid [22433]
    16. [INFO] [lifecycle_manager-13]: process started with pid [22441]
    17. [robot_state_publisher-3] [WARN] [1661054720.864507459] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
    18. [robot_state_publisher-3] Link base_link had 7 children
    19. [robot_state_publisher-3] Link camera_link had 2 children
    20. [robot_state_publisher-3] Link camera_depth_frame had 1 children
    21. [robot_state_publisher-3] Link camera_depth_optical_frame had 0 children
    22. [robot_state_publisher-3] Link camera_rgb_frame had 1 children
    23. [robot_state_publisher-3] Link camera_rgb_optical_frame had 0 children
    24. [robot_state_publisher-3] Link caster_back_left_link had 0 children
    25. [robot_state_publisher-3] Link caster_back_right_link had 0 children
    26. [robot_state_publisher-3] Link imu_link had 0 children
    27. [robot_state_publisher-3] Link base_scan had 0 children
    28. [robot_state_publisher-3] Link wheel_left_link had 0 children
    29. [robot_state_publisher-3] Link wheel_right_link had 0 children
    30. [robot_state_publisher-3] [INFO] [1661054720.868551659] [robot_state_publisher]: got segment base_footprint
    31. [robot_state_publisher-3] [INFO] [1661054720.868647680] [robot_state_publisher]: got segment base_link
    32. [robot_state_publisher-3] [INFO] [1661054720.868663701] [robot_state_publisher]: got segment base_scan
    33. [robot_state_publisher-3] [INFO] [1661054720.868675631] [robot_state_publisher]: got segment camera_depth_frame
    34. [robot_state_publisher-3] [INFO] [1661054720.868686801] [robot_state_publisher]: got segment camera_depth_optical_frame
    35. [robot_state_publisher-3] [INFO] [1661054720.868698399] [robot_state_publisher]: got segment camera_link
    36. [robot_state_publisher-3] [INFO] [1661054720.868709890] [robot_state_publisher]: got segment camera_rgb_frame
    37. [robot_state_publisher-3] [INFO] [1661054720.868721500] [robot_state_publisher]: got segment camera_rgb_optical_frame
    38. [robot_state_publisher-3] [INFO] [1661054720.868733165] [robot_state_publisher]: got segment caster_back_left_link
    39. [robot_state_publisher-3] [INFO] [1661054720.868744453] [robot_state_publisher]: got segment caster_back_right_link
    40. [robot_state_publisher-3] [INFO] [1661054720.868755393] [robot_state_publisher]: got segment imu_link
    41. [robot_state_publisher-3] [INFO] [1661054720.868767032] [robot_state_publisher]: got segment wheel_left_link
    42. [robot_state_publisher-3] [INFO] [1661054720.868778277] [robot_state_publisher]: got segment wheel_right_link
    43. [map_server-5] [INFO] [1661054720.879760221] [map_server]: 
    44. [map_server-5] 	map_server lifecycle node launched. 
    45. [map_server-5] 	Waiting on external lifecycle transitions to activate
    46. [map_server-5] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    47. [map_server-5] [INFO] [1661054720.879888046] [map_server]: Creating
    48. [lifecycle_manager-7] [INFO] [1661054720.868669904] [lifecycle_manager_localization]: Creating
    49. [lifecycle_manager-7] [INFO] [1661054720.870975208] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
    50. [lifecycle_manager-7] [INFO] [1661054720.876692884] [lifecycle_manager_localization]: Starting managed nodes bringup...
    51. [lifecycle_manager-7] [INFO] [1661054720.876751414] [lifecycle_manager_localization]: Configuring map_server
    52. [controller_server-8] [INFO] [1661054720.892359574] [controller_server]: 
    53. [controller_server-8] 	controller_server lifecycle node launched. 
    54. [controller_server-8] 	Waiting on external lifecycle transitions to activate
    55. [controller_server-8] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    56. [waypoint_follower-12] [INFO] [1661054720.914603306] [waypoint_follower]: 
    57. [waypoint_follower-12] 	waypoint_follower lifecycle node launched. 
    58. [waypoint_follower-12] 	Waiting on external lifecycle transitions to activate
    59. [waypoint_follower-12] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    60. [waypoint_follower-12] [INFO] [1661054720.915478865] [waypoint_follower]: Creating
    61. [planner_server-9] [INFO] [1661054720.920024576] [planner_server]: 
    62. [planner_server-9] 	planner_server lifecycle node launched. 
    63. [planner_server-9] 	Waiting on external lifecycle transitions to activate
    64. [planner_server-9] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    65. [planner_server-9] [INFO] [1661054720.922368666] [planner_server]: Creating
    66. [controller_server-8] [INFO] [1661054720.935971283] [controller_server]: Creating controller server
    67. [planner_server-9] [INFO] [1661054720.967401338] [global_costmap.global_costmap]: 
    68. [planner_server-9] 	global_costmap lifecycle node launched. 
    69. [planner_server-9] 	Waiting on external lifecycle transitions to activate
    70. [planner_server-9] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    71. [planner_server-9] [INFO] [1661054720.969067014] [global_costmap.global_costmap]: Creating Costmap
    72. [controller_server-8] [INFO] [1661054720.976103320] [local_costmap.local_costmap]: 
    73. [controller_server-8] 	local_costmap lifecycle node launched. 
    74. [controller_server-8] 	Waiting on external lifecycle transitions to activate
    75. [controller_server-8] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    76. [amcl-6] [INFO] [1661054720.976971743] [amcl]: 
    77. [amcl-6] 	amcl lifecycle node launched. 
    78. [amcl-6] 	Waiting on external lifecycle transitions to activate
    79. [amcl-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    80. [amcl-6] [INFO] [1661054720.977346023] [amcl]: Creating
    81. [controller_server-8] [INFO] [1661054720.978236429] [local_costmap.local_costmap]: Creating Costmap
    82. [recoveries_server-10] [INFO] [1661054720.988954148] [recoveries_server]: 
    83. [recoveries_server-10] 	recoveries_server lifecycle node launched. 
    84. [recoveries_server-10] 	Waiting on external lifecycle transitions to activate
    85. [recoveries_server-10] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    86. [lifecycle_manager-13] [INFO] [1661054720.995954504] [lifecycle_manager_navigation]: Creating
    87. [lifecycle_manager-13] [INFO] [1661054721.004679416] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
    88. [lifecycle_manager-13] [INFO] [1661054721.013301204] [lifecycle_manager_navigation]: Starting managed nodes bringup...
    89. [lifecycle_manager-13] [INFO] [1661054721.014373901] [lifecycle_manager_navigation]: Configuring controller_server
    90. [controller_server-8] [INFO] [1661054721.015548236] [controller_server]: Configuring controller interface
    91. [controller_server-8] [INFO] [1661054721.016435020] [controller_server]: getting goal checker plugins..
    92. [controller_server-8] [INFO] [1661054721.017726333] [controller_server]: Controller frequency set to 20.0000Hz
    93. [controller_server-8] [INFO] [1661054721.018586559] [local_costmap.local_costmap]: Configuring
    94. [map_server-5] [INFO] [1661054721.023983603] [map_server]: Configuring
    95. [map_server-5] [INFO] [map_io]: Loading yaml file: /opt/ros/galactic/share/nav2_bringup/maps/turtlebot3_world.yaml
    96. [map_server-5] [DEBUG] [map_io]: resolution: 0.05
    97. [map_server-5] [DEBUG] [map_io]: origin[0]: -10
    98. [map_server-5] [DEBUG] [map_io]: origin[1]: -10
    99. [map_server-5] [DEBUG] [map_io]: origin[2]: 0
    100. [map_server-5] [DEBUG] [map_io]: free_thresh: 0.196
    101. [map_server-5] [DEBUG] [map_io]: occupied_thresh: 0.65
    102. [map_server-5] [DEBUG] [map_io]: mode: trinary
    103. [map_server-5] [DEBUG] [map_io]: negate: 0
    104. [map_server-5] [INFO] [map_io]: Loading image_file: /opt/ros/galactic/share/nav2_bringup/maps/turtlebot3_world.pgm
    105. [controller_server-8] [INFO] [1661054721.024988310] [local_costmap.local_costmap]: Using plugin "voxel_layer"
    106. [bt_navigator-11] [INFO] [1661054721.025097688] [bt_navigator]: 
    107. [bt_navigator-11] 	bt_navigator lifecycle node launched. 
    108. [bt_navigator-11] 	Waiting on external lifecycle transitions to activate
    109. [bt_navigator-11] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
    110. [bt_navigator-11] [INFO] [1661054721.025219035] [bt_navigator]: Creating
    111. [controller_server-8] [INFO] [1661054721.032150551] [local_costmap.local_costmap]: Subscribed to Topics: scan
    112. [controller_server-8] [INFO] [1661054721.045146498] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
    113. [controller_server-8] [INFO] [1661054721.045194479] [local_costmap.local_costmap]: Using plugin "inflation_layer"
    114. [controller_server-8] [INFO] [1661054721.047109637] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
    115. [controller_server-8] [INFO] [1661054721.055104931] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
    116. [controller_server-8] [INFO] [1661054721.062998272] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
    117. [map_server-5] [DEBUG] [map_io]: Read map /opt/ros/galactic/share/nav2_bringup/maps/turtlebot3_world.pgm: 384 X 384 map @ 0.05 m/cell
    118. [controller_server-8] [INFO] [1661054721.073954668] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
    119. [lifecycle_manager-7] [INFO] [1661054721.075886239] [lifecycle_manager_localization]: Configuring amcl
    120. [amcl-6] [INFO] [1661054721.076157729] [amcl]: Configuring
    121. [amcl-6] [INFO] [1661054721.076279317] [amcl]: initTransforms
    122. [controller_server-8] [INFO] [1661054721.077383454] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
    123. [controller_server-8] [INFO] [1661054721.080328048] [controller_server]: Setting transform_tolerance to 0.200000
    124. [amcl-6] [INFO] [1661054721.091598625] [amcl]: initPubSub
    125. [amcl-6] [INFO] [1661054721.096152765] [amcl]: Subscribed to map topic.
    126. [lifecycle_manager-7] [INFO] [1661054721.099391920] [lifecycle_manager_localization]: Activating map_server
    127. [map_server-5] [INFO] [1661054721.099721156] [map_server]: Activating
    128. [map_server-5] [INFO] [1661054721.100446634] [map_server]: Creating bond (map_server) to lifecycle manager.
    129. [amcl-6] [INFO] [1661054721.101021846] [amcl]: Received a 384 X 384 map @ 0.050 m/pix
    130. [controller_server-8] [INFO] [1661054721.119541330] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
    131. [controller_server-8] [INFO] [1661054721.120883748] [controller_server]: Critic plugin initialized
    132. [controller_server-8] [INFO] [1661054721.121345685] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
    133. [controller_server-8] [INFO] [1661054721.123611118] [controller_server]: Critic plugin initialized
    134. [controller_server-8] [INFO] [1661054721.124017486] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
    135. [controller_server-8] [INFO] [1661054721.126015719] [controller_server]: Critic plugin initialized
    136. [controller_server-8] [INFO] [1661054721.126783217] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
    137. [controller_server-8] [INFO] [1661054721.128207439] [controller_server]: Critic plugin initialized
    138. [controller_server-8] [INFO] [1661054721.132757063] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
    139. [controller_server-8] [INFO] [1661054721.134499382] [controller_server]: Critic plugin initialized
    140. [controller_server-8] [INFO] [1661054721.135182604] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
    141. [controller_server-8] [INFO] [1661054721.136518980] [controller_server]: Critic plugin initialized
    142. [controller_server-8] [INFO] [1661054721.137614779] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
    143. [controller_server-8] [INFO] [1661054721.138719753] [controller_server]: Critic plugin initialized
    144. [controller_server-8] [INFO] [1661054721.138767755] [controller_server]: Controller Server has FollowPath  controllers available.
    145. [lifecycle_manager-13] [INFO] [1661054721.145224684] [lifecycle_manager_navigation]: Configuring planner_server
    146. [planner_server-9] [INFO] [1661054721.145496085] [planner_server]: Configuring
    147. [planner_server-9] [INFO] [1661054721.145538827] [global_costmap.global_costmap]: Configuring
    148. [planner_server-9] [INFO] [1661054721.149872435] [global_costmap.global_costmap]: Using plugin "static_layer"
    149. [planner_server-9] [INFO] [1661054721.155595142] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
    150. [planner_server-9] [INFO] [1661054721.156732262] [global_costmap.global_costmap]: Initialized plugin "static_layer"
    151. [planner_server-9] [INFO] [1661054721.156787605] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
    152. [planner_server-9] [INFO] [1661054721.159489903] [global_costmap.global_costmap]: Subscribed to Topics: scan
    153. [planner_server-9] [INFO] [1661054721.167073707] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
    154. [planner_server-9] [INFO] [1661054721.167122072] [global_costmap.global_costmap]: Using plugin "inflation_layer"
    155. [planner_server-9] [INFO] [1661054721.169217818] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 384 X 384 at 0.050000 m/pix
    156. [planner_server-9] [INFO] [1661054721.172473382] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
    157. [planner_server-9] [INFO] [1661054721.183877678] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
    158. [planner_server-9] [INFO] [1661054721.183936392] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
    159. [planner_server-9] [INFO] [1661054721.192503691] [planner_server]: Planner Server has GridBased  planners available.
    160. [lifecycle_manager-13] [INFO] [1661054721.200792028] [lifecycle_manager_navigation]: Configuring recoveries_server
    161. [recoveries_server-10] [INFO] [1661054721.201137276] [recoveries_server]: Configuring
    162. [lifecycle_manager-7] [INFO] [1661054721.205102928] [lifecycle_manager_localization]: Server map_server connected with bond.
    163. [lifecycle_manager-7] [INFO] [1661054721.205160447] [lifecycle_manager_localization]: Activating amcl
    164. [amcl-6] [INFO] [1661054721.205830108] [amcl]: Activating
    165. [amcl-6] [INFO] [1661054721.205882135] [amcl]: Creating bond (amcl) to lifecycle manager.
    166. [recoveries_server-10] [INFO] [1661054721.207969391] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
    167. [recoveries_server-10] [INFO] [1661054721.209492908] [recoveries_server]: Configuring spin
    168. [recoveries_server-10] [INFO] [1661054721.214529117] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
    169. [recoveries_server-10] [INFO] [1661054721.216551826] [recoveries_server]: Configuring backup
    170. [recoveries_server-10] [INFO] [1661054721.224020090] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
    171. [recoveries_server-10] [INFO] [1661054721.225462622] [recoveries_server]: Configuring wait
    172. [lifecycle_manager-13] [INFO] [1661054721.244608250] [lifecycle_manager_navigation]: Configuring bt_navigator
    173. [bt_navigator-11] [INFO] [1661054721.244853696] [bt_navigator]: Configuring
    174. [lifecycle_manager-7] [INFO] [1661054721.308835764] [lifecycle_manager_localization]: Server amcl connected with bond.
    175. [lifecycle_manager-7] [INFO] [1661054721.308954750] [lifecycle_manager_localization]: Managed nodes are active
    176. [lifecycle_manager-7] [INFO] [1661054721.308976164] [lifecycle_manager_localization]: Creating bond timer...
    177. [lifecycle_manager-13] [INFO] [1661054721.311554467] [lifecycle_manager_navigation]: Configuring waypoint_follower
    178. [waypoint_follower-12] [INFO] [1661054721.311858329] [waypoint_follower]: Configuring
    179. [waypoint_follower-12] [INFO] [1661054721.319677799] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
    180. [lifecycle_manager-13] [INFO] [1661054721.321763105] [lifecycle_manager_navigation]: Activating controller_server
    181. [controller_server-8] [INFO] [1661054721.321982128] [controller_server]: Activating
    182. [controller_server-8] [INFO] [1661054721.322014092] [local_costmap.local_costmap]: Activating
    183. [controller_server-8] [INFO] [1661054721.322036107] [local_costmap.local_costmap]: Checking transform
    184. [controller_server-8] [INFO] [1661054721.322074057] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    185. [rviz2-4] [INFO] [1661054721.479822887] [rviz2]: Stereo is NOT SUPPORTED
    186. [rviz2-4] [INFO] [1661054721.479918995] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
    187. [rviz2-4] [INFO] [1661054721.518112093] [rviz2]: Stereo is NOT SUPPORTED
    188. [amcl-6] [WARN] [1661054721.686275463] [amcl]: New subscription discovered on topic '/particle_cloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
    189. [rviz2-4] [INFO] [1661054721.813885816] [rviz2]: Trying to create a map of size 384 x 384 using 1 swatches
    190. [controller_server-8] [INFO] [1661054721.822138451] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    191. [rviz2-4] [ERROR] [1661054721.827166910] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : 
    192. [rviz2-4] active samplers with a different type refer to the same texture image unit
    193. [controller_server-8] [INFO] [1661054722.322248884] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    194. [controller_server-8] [INFO] [1661054722.822160507] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    195. [controller_server-8] [INFO] [1661054723.322205491] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    196. [controller_server-8] [INFO] [1661054723.822234683] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    197. [controller_server-8] [INFO] [1661054724.322215965] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    198. [controller_server-8] [INFO] [1661054724.822211246] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    199. [controller_server-8] [INFO] [1661054725.322197725] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    200. [controller_server-8] [INFO] [1661054725.822223261] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    201. [controller_server-8] [INFO] [1661054726.322220660] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    202. [controller_server-8] [INFO] [1661054726.822223380] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    203. [controller_server-8] [INFO] [1661054727.322217193] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
    204. [controller_server-8] [INFO] [1661054727.822247083] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

    解决方法 ：

    运行前先建好Gazebo环境，执行这个脚本：

    source  /usr/share/gazebo/setup.bash

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  • 原文地址：https://blog.csdn.net/konga/article/details/126449393