After trying to simulate turtlebot navigation on STDR instead of Stage, I always run into missing transforms problems and navigation cant start. I ran view_frames and put a link to the resulting pdf.
[pdf file of TF tree](http://www.pdf-archive.com/2014/09/25/frames/)
The particularity of STDR is that it is publishing its own map and doesnt need map_server (from what I could understand). I also had to manually add some transforms to avoid a lot of remapping,
> odom -> base_footprint which is just a> copy of map_static -> robot0
and
> base_link -> base_laser_link which is> a copy of robot0 -> robot0_laser_0
When I run everything, I get the following error:
> Waiting on 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.
As you can see in the pdf map is also supposed to be connected to odom, which is actually the task of AMCL. But in my case it is not. And i couldnt find out the source of the problem.
I would be very thankful for your help.
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