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The GPS message frame_id is wrong. As the warning suggests, your frame_id cannot start with a '/'. Change the header from /world to world.
On a side note, setting the GPS frame_id to world is a bad practice since it is a fix frame. And you are also providing a gps to chassis transform. I would then suggest to change the GPS frame to gps_link. Then change the transform:
<node name="bl_gps" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 1 chassis gps_link" />
Also, if you do not have any source that is publishing a transfrom between odom and world, you should do that at the beginning of the launch file:
<node pkg="tf2_ros" type="static_transform_publisher" name="map_odom" args="0 0 0 0 0 0 map odom" />
Let me know if that solves your problem.
| | 2 | No.2 Revision |
The GPS message frame_id is wrong. As the warning suggests, your frame_id cannot start with a '/'. Change the header from /world to world.
On a side note, setting the GPS frame_id to world is a bad practice since it is a fix frame. And you are also providing a gps to chassis transform. I would then suggest to change the GPS frame to gps_link. Then change the transform:
<node name="bl_gps" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 1 chassis gps_link" />
Also, if you do not have any source that is publishing a transfrom between odom and world, you should do that at the beginning of the launch file:
<node pkg="tf2_ros" type="static_transform_publisher" name="map_odom" args="0 0 0 0 0 0 map odom" />
Let me know if that solves your problem.
NOTE: I would strongly advice you against having a 0 value covariance. The covariance measures how confident you are about a measurement. Set that to a small value e.g. 0.001 if you have a good IMU. The GPS covariance msg seems incomplete so I cannot speak for this one.
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