Unable to transform base_link, sensor_kit_base_link, velodyne_top, velodyne_top_base_link to map

[LouiMilvus]

Unable to transform base_link, sensor_kit_base_link, velodyne_top, velodyne_top_base_link to map

[TZECHIN6]

Can you show your description file? you have to make sure the publish frame, frame name, and your description file are all aligned.

[HCA-a]

Hello, right now I'm trying to do same think. Could you explain step by step how can I align publish frame, frame name and description file ?

[TZECHIN6]

First of all, I would like to clarify the issue about the author, have you tried to use planning simulator to see the urdf and robot description is correctly published? If you have defined new sensor component, you have to create corresponding urdf file for such sensor component. I have created a Livox mid360 and integrated into my autoware. If you need help on this, I could share more about it

[liuXinGangChina]

Theoretically the most import node to keep the whole tf tree normal is ndt and ekf.
Ekf output the tf relation（mainly from ndt） between map and lidar
With the geometry parameters that you defined in sensor description，which provide the tf among lidar and base-link，finally you will get the normal tf tree

In that case please make sure ndt and the whole localization pipeline works

Happy hacking！