ROS - Could not obtain transform error in stretch_funmap

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Terminal output shown below when stretch_funmap mapping.launch is run.

hello-robot@stretch-re1-1033 : ~ $ roslaunch stretch_funmap mapping.launch

… logging to /home/hello-robot/.ros/log/1d1de53c-81e9-11eb-84ce-94e6f7b75520/roslaunch-stretch-re1-1033-5090.log

Checking log directory for disk usage. This may take a while.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://stretch-re1-1033:33859/

SUMMARY

========

CLEAR PARAMETERS

  • /ekf_se/

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 63

  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame

  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti…

  • /camera/realsense2_camera/align_depth: True

  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de…

  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de…

  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de…

  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de…

  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de…

  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de…

  • /camera/realsense2_camera/allow_no_texture_points: True

  • /camera/realsense2_camera/base_frame_id: camera_link

  • /camera/realsense2_camera/calib_odom_file:

  • /camera/realsense2_camera/clip_distance: -2.0

  • /camera/realsense2_camera/color_fps: 15

  • /camera/realsense2_camera/color_frame_id: camera_color_frame

  • /camera/realsense2_camera/color_height: 720

  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti…

  • /camera/realsense2_camera/color_width: 1280

  • /camera/realsense2_camera/depth_fps: 15

  • /camera/realsense2_camera/depth_frame_id: camera_depth_frame

  • /camera/realsense2_camera/depth_height: 720

  • /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti…

  • /camera/realsense2_camera/depth_width: 1280

  • /camera/realsense2_camera/device_type:

  • /camera/realsense2_camera/enable_accel: True

  • /camera/realsense2_camera/enable_color: True

  • /camera/realsense2_camera/enable_depth: True

  • /camera/realsense2_camera/enable_fisheye1: False

  • /camera/realsense2_camera/enable_fisheye2: False

  • /camera/realsense2_camera/enable_fisheye: False

  • /camera/realsense2_camera/enable_gyro: False

  • /camera/realsense2_camera/enable_infra1: False

  • /camera/realsense2_camera/enable_infra2: False

  • /camera/realsense2_camera/enable_infra: False

  • /camera/realsense2_camera/enable_pointcloud: False

  • /camera/realsense2_camera/enable_pose: False

  • /camera/realsense2_camera/enable_sync: True

  • /camera/realsense2_camera/filters: pointcloud

  • /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f…

  • /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o…

  • /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f…

  • /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o…

  • /camera/realsense2_camera/fisheye_fps: 30

  • /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame

  • /camera/realsense2_camera/fisheye_height: 480

  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op…

  • /camera/realsense2_camera/fisheye_width: 640

  • /camera/realsense2_camera/gyro_fps: 200

  • /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame

  • /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic…

  • /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica…

  • /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame

  • /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt…

  • /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame

  • /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt…

  • /camera/realsense2_camera/infra_fps: 30

  • /camera/realsense2_camera/infra_height: 480

  • /camera/realsense2_camera/infra_width: 640

  • /camera/realsense2_camera/initial_reset: False

  • /camera/realsense2_camera/json_file_path:

  • /camera/realsense2_camera/linear_accel_cov: 0.01

  • /camera/realsense2_camera/odom_frame_id: camera_odom_frame

  • /camera/realsense2_camera/pointcloud_texture_index: 0

  • /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR

  • /camera/realsense2_camera/pose_frame_id: camera_pose_frame

  • /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic…

  • /camera/realsense2_camera/publish_odom_tf: True

  • /camera/realsense2_camera/publish_tf: True

  • /camera/realsense2_camera/rosbag_filename:

  • /camera/realsense2_camera/serial_no:

  • /camera/realsense2_camera/tf_publish_rate: 0.0

  • /camera/realsense2_camera/topic_odom_in: odom_in

  • /camera/realsense2_camera/unite_imu_method:

  • /camera/realsense2_camera/usb_port_id:

  • /d435i_configure/initial_mode: High Accuracy

  • /ekf_se/acceleration_gains: [0.8, 0.0, 0.0, 0…

  • /ekf_se/acceleration_limits: [1.3, 0.0, 0.0, 0…

  • /ekf_se/base_link_frame: base_link

  • /ekf_se/control_config: [True, False, Fal…

  • /ekf_se/control_timeout: 0.2

  • /ekf_se/debug: False

  • /ekf_se/debug_out_file: /path/to/debug/fi…

  • /ekf_se/deceleration_gains: [1.0, 0.0, 0.0, 0…

  • /ekf_se/deceleration_limits: [1.3, 0.0, 0.0, 0…

  • /ekf_se/frequency: 15

  • /ekf_se/imu0: /imu/data

  • /ekf_se/imu0_config: [False, False, Fa…

  • /ekf_se/imu0_differential: True

  • /ekf_se/imu0_nodelay: False

  • /ekf_se/imu0_queue_size: 1

  • /ekf_se/imu0_relative: True

  • /ekf_se/imu0_remove_gravitational_acceleration: True

  • /ekf_se/initial_estimate_covariance: [‘1e-9’, 0, 0, 0,…

  • /ekf_se/map_frame: map

  • /ekf_se/odom0: /odom

  • /ekf_se/odom0_config: [True, True, True…

  • /ekf_se/odom0_differential: True

  • /ekf_se/odom0_nodelay: False

  • /ekf_se/odom0_queue_size: 1

  • /ekf_se/odom0_relative: False

  • /ekf_se/odom_frame: odom

  • /ekf_se/print_diagnostics: True

  • /ekf_se/process_noise_covariance: [0.05, 0, 0, 0, 0…

  • /ekf_se/publish_acceleration: False

  • /ekf_se/publish_tf: False

  • /ekf_se/sensor_timeout: 0.2

  • /ekf_se/stamped_control: False

  • /ekf_se/transform_time_offset: 0.0

  • /ekf_se/transform_timeout: 0.0

  • /ekf_se/two_d_mode: True

  • /ekf_se/use_control: False

  • /ekf_se/world_frame: odom

  • /funmap/debug_directory: /home/hello-robot…

  • /imu_filter_node/fixed_frame: map

  • /imu_filter_node/use_mag: False

  • /joint_state_publisher/rate: 15.0

  • /joint_state_publisher/source_list: [’/stretch/joint_…

  • /laser_scan_matcher_node/fixed_frame: odom

  • /laser_scan_matcher_node/max_angular_correction_deg: 20.0

  • /laser_scan_matcher_node/max_iterations: 10

  • /laser_scan_matcher_node/max_linear_correction: 0.2

  • /laser_scan_matcher_node/use_imu: False

  • /lidar_node/angle_compensate: True

  • /lidar_node/frame_id: laser

  • /lidar_node/inverted: False

  • /lidar_node/scan_mode: Boost

  • /lidar_node/serial_baudrate: 115200

  • /lidar_node/serial_port: /dev/hello-lrf

  • /robot_description: <?xml version="1…

  • /robot_state_publisher/publish_frequency: 15.0

  • /rosdistro: melodic

  • /rosversion: 1.14.9

  • /stretch_driver/broadcast_odom_tf: False

  • /stretch_driver/controller_calibration_file: /home/hello-robot…

  • /stretch_driver/fail_out_of_range_goal: False

  • /stretch_driver/rate: 25.0

  • /stretch_driver/timeout: 0.5

NODES

/

d435i_accel_correction (stretch_core/d435i_accel_correction)

d435i_configure (stretch_core/d435i_configure)

d435i_frustum_visualizer (stretch_core/d435i_frustum_visualizer)

ekf_se (robot_localization/ekf_localization_node)

funmap (stretch_funmap/funmap)

imu_filter_node (imu_filter_madgwick/imu_filter_node)

joint_state_publisher (joint_state_publisher/joint_state_publisher)

keyboard_teleop (stretch_core/keyboard_teleop)

laser_scan_matcher_node (laser_scan_matcher/laser_scan_matcher_node)

lidar_node (rplidar_ros/rplidarNode)

robot_state_publisher (robot_state_publisher/robot_state_publisher)

rviz (rviz/rviz)

stretch_driver (stretch_core/stretch_driver)

/camera/

realsense2_camera (nodelet/nodelet)

realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[d435i_accel_correction-1]: started with pid [5106]

process[camera/realsense2_camera_manager-2]: started with pid [5107]

process[camera/realsense2_camera-3]: started with pid [5108]

process[d435i_configure-4]: started with pid [5109]

process[d435i_frustum_visualizer-5]: started with pid [5110]

process[joint_state_publisher-6]: started with pid [5116]

process[robot_state_publisher-7]: started with pid [5117]

[ INFO] [1615415149.036122880]: Initializing nodelet with 8 worker threads.

process[stretch_driver-8]: started with pid [5133]

process[funmap-9]: started with pid [5134]

process[imu_filter_node-10]: started with pid [5136]

[ WARN] [1615415149.085321598]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

process[ekf_se-11]: started with pid [5141]

[ INFO] [1615415149.123052722]: Starting ImuFilter

[ INFO] [1615415149.128908226]: Using dt computed from message headers

[ INFO] [1615415149.129006335]: The gravity vector is kept in the IMU message.

process[lidar_node-12]: started with pid [5146]

process[laser_scan_matcher_node-13]: started with pid [5152]

[ INFO] [1615415149.164603383]: Imu filter gain set to 0.100000

[ INFO] [1615415149.164668389]: Gyro drift bias set to 0.000000

[ INFO] [1615415149.164684459]: Magnetometer bias values: 0.000000 0.000000 0.000000

process[keyboard_teleop-14]: started with pid [5158]

[ INFO] [1615415149.209308849]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0

process[rviz-15]: started with pid [5162]

[ INFO] [1615415149.235879517]: Starting LaserScanMatcher

qt.qpa.screen: QXcbConnection: Could not connect to display

Could not connect to any X display.

[rviz-15] process has died [pid 5162, exit code 1, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/rviz/stretch_mapping.rviz __name:=rviz __log:=/home/hello-robot/.ros/log/1d1de53c-81e9-11eb-84ce-94e6f7b75520/rviz-15.log].

log file: /home/hello-robot/.ros/log/1d1de53c-81e9-11eb-84ce-94e6f7b75520/rviz-15*.log

[ WARN] [1615415149.303091728]: Both imu0_differential and imu0_relative were set to true. Using differential mode.

[ INFO] [1615415149.367271036]: RealSense ROS v2.2.17

[ INFO] [1615415149.367697785]: Built with LibRealSense v2.38.1

[ INFO] [1615415149.367937514]: Running with LibRealSense v2.38.1

[ INFO] [1615415149.436200223]:

[INFO] [1615415149.516972]: /d435i_accel_correction started

[ INFO] [1615415149.700663364]: Device with serial number 944122072492 was found.

[ INFO] [1615415149.700970352]: Device with physical ID 2-2-5 was found.

[ INFO] [1615415149.701306576]: Device with name Intel RealSense D435I was found.

[ INFO] [1615415149.702798126]: Device with port number 2-2 was found.

[ INFO] [1615415149.705636513]: getParameters…

[ INFO] [1615415149.773330685]: setupDevice…

[ INFO] [1615415149.773479016]: JSON file is not provided

[ INFO] [1615415149.773577220]: ROS Node Namespace: camera

[ INFO] [1615415149.773667475]: Device Name: Intel RealSense D435I

[ INFO] [1615415149.773748419]: Device Serial No: 944122072492

[ INFO] [1615415149.773826710]: Device physical port: 2-2-5

[ INFO] [1615415149.773902481]: Device FW version: 05.12.08.200

[ INFO] [1615415149.773978856]: Device Product ID: 0x0B3A

[ INFO] [1615415149.774056065]: Enable PointCloud: On

[ INFO] [1615415149.774132293]: Align Depth: On

[ INFO] [1615415149.774209923]: Sync Mode: On

[ INFO] [1615415149.774394329]: Device Sensors:

[ INFO] [1615415149.804250957]: Stereo Module was found.

[ INFO] [1615415149.831247008]: RGB Camera was found.

[ INFO] [1615415149.831668698]: Motion Module was found.

[ INFO] [1615415149.831735091]: Add Filter: pointcloud

[ INFO] [1615415149.832570730]: num_filters: 1

[ INFO] [1615415149.832609918]: Setting Dynamic reconfig parameters.

[INFO] [1615415149.846137]: /d435i_frustum_visualizer started

[INFO] [1615415150.001644]: /d435i_configure started

hwmon command 0x7d( 0 0 0 0 ) failed (response -21= No data to return)

[ INFO] [1615415150.212122736]: Done Setting Dynamic reconfig parameters.

[ INFO] [1615415150.213160357]: depth stream is enabled - width: 1280, height: 720, fps: 15, Format: Z16

[ INFO] [1615415150.214640265]: color stream is enabled - width: 1280, height: 720, fps: 15, Format: RGB8

[ INFO] [1615415150.218132919]: setupPublishers…

[ INFO] [1615415150.220983835]: Expected frequency for depth = 15.00000

[ INFO] [1615415150.252947748]: Expected frequency for color = 15.00000

[ INFO] [1615415150.277037278]: Expected frequency for aligned_depth_to_color = 15.00000

[ INFO] [1615415150.297096924]: setupStreams…

[ INFO] [1615415150.307932235]: insert Depth to Stereo Module

[ INFO] [1615415150.308007811]: insert Color to RGB Camera

[ INFO] [1615415150.308044954]: insert Accel to Motion Module

[INFO] [1615415150.311907]: initial_mode = High Accuracy

[INFO] [1615415150.330809]: Set D435i to High Accuracy mode

[ INFO] [1615415150.404864807]: SELECTED BASE:Depth, 0

[ INFO] [1615415150.412708650]: RealSense Node Is Up!

[INFO] [1615415150.505921]: /keyboard_teleop started

[INFO] [1615415150.507316]: For use with S T R E T C H ™ RESEARCH EDITION from Hello Robot Inc.

[INFO] [1615415150.508247]: /stretch_driver started

[INFO] [1615415150.510100]: mode = navigation

[INFO] [1615415150.511873]: broadcast_odom_tf = False

[INFO] [1615415150.513746]: Loading controller calibration parameters for the head from YAML file named /home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/controller_calibration_head.yaml

[INFO] [1615415150.516210]: controller parameters loaded = {‘tilt_looking_up_offset’: -0.007991362557756053, ‘arm_retracted_offset’: 0.003431998628653808, ‘tilt_angle_backlash_transition’: -0.4, ‘tilt_angle_offset’: -0.11863479457900214, ‘pan_angle_offset’: 0.03578660451542777, ‘pan_looked_left_offset’: -0.0017655938546597139}

[INFO] [1615415150.524021]: self.head_tilt_calibrated_offset_rad in degrees = -6.79727303278

[INFO] [1615415150.525171]: self.head_pan_calibrated_offset_rad in degrees = 2.05042140184

[INFO] [1615415150.526564]: self.head_pan_calibrated_looked_left_offset_rad in degrees = -0.101161076206

[INFO] [1615415150.527843]: self.head_tilt_backlash_transition_angle_rad in degrees = -22.9183118052

[INFO] [1615415150.528891]: self.head_tilt_calibrated_looking_up_offset_rad in degrees = -0.457871347118

[INFO] [1615415150.529967]: self.wrist_extension_calibrated_retracted_offset_m in meters = 0.00343199862865

[INFO] [1615415150.537275]: /stretch_driver rate = 25.0 Hz

[INFO] [1615415150.538120]: /stretch_driver timeout = 0.5 s

[INFO] [1615415150.539677]: /stretch_driver use_fake_mechaduinos = False

[INFO] [1615415150.540556]: /stretch_driver base_frame_id = base_link

[INFO] [1615415150.541393]: /stretch_driver odom_frame_id = odom

Traceback (most recent call last):

File “/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/nodes/funmap”, line 39, in

import stretch_funmap.merge_maps as mm

File “/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/src/stretch_funmap/merge_maps.py”, line 13, in

import navigation_planning as na

File “/home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/src/stretch_funmap/navigation_planning.py”, line 5, in

import cython_min_cost_path as cm

ImportError: No module named cython_min_cost_path

[funmap-9] process has died [pid 5134, exit code 1, cmd /home/hello-robot/catkin_ws/src/stretch_ros/stretch_funmap/nodes/funmap __name:=funmap __log:=/home/hello-robot/.ros/log/1d1de53c-81e9-11eb-84ce-94e6f7b75520/funmap-9.log].

log file: /home/hello-robot/.ros/log/1d1de53c-81e9-11eb-84ce-94e6f7b75520/funmap-9*.log

[ WARN] [1615415151.212657630]: Hardware Notification:RT IC2 Config error,1.61542e+12,Error,Hardware Error

[ERROR] [1615415151.212715628]: Performing Hardware Reset.

2021-03-10 14:25:51,582 - stretch-re1-1033 - robot - INFO - Starting up Robot

RPLIDAR S/N: 808B9A87C5E392D2A5E492F8105E316C

[ INFO] [1615415151.721511541]: Firmware Ver: 1.25

[ INFO] [1615415151.721533042]: Hardware Rev: 5

[ INFO] [1615415151.722950379]: RPLidar health status : 0

2021-03-10 14:25:52,007 - stretch-re1-1033 - robot.base - INFO - Fast motion turned off

[INFO] [1615415152.111077]: /stretch_driver: Changed to mode = navigation

[ INFO] [1615415152.135311183]: First IMU message received.

[ WARN] [1615415152.135621895]: Could not obtain transform from imu_mobile_base to base_link. Error was Could not find a connection between ‘base_link’ and ‘imu_mobile_base’ because they are not part of the same tree.Tf has two or more unconnected trees.

[INFO] [1615415152.205797]: Node /keyboard_teleop connected to /stop_the_robot service.

[INFO] [1615415152.210042]: Node /keyboard_teleop waiting to connect to /funmap/trigger_head_scan.

[ WARN] [1615415152.212903816]: Hardware Notification:Motion Module force pause,1.61542e+12,Error,Hardware Error

[ INFO] [1615415152.322797615]: current scan mode: Boost, max_distance: 12.0 m, Point number: 8.0K , angle_compensate: 2

[ WARN] [1615415154.143050929]: Could not obtain transform from imu_mobile_base to base_link. Error was Could not find a connection between ‘base_link’ and ‘imu_mobile_base’ because they are not part of the same tree.Tf has two or more unconnected trees.

[ERROR] [1615415154.731811096]: The device has been disconnected!

[ INFO] [1615415154.778606081]: Checking new devices…

[ INFO] [1615415154.778639938]:

[ INFO] [1615415155.104675785]: Device with serial number 944122072492 was found.

[ INFO] [1615415155.104716964]: Device with physical ID 2-2-6 was found.

[ INFO] [1615415155.104736965]: Device with name Intel RealSense D435I was found.

[ INFO] [1615415155.105134381]: Device with port number 2-2 was found.

[ INFO] [1615415155.106302508]: getParameters…

[ INFO] [1615415155.139577219]: setupDevice…

[ INFO] [1615415155.139603789]: JSON file is not provided

[ INFO] [1615415155.139624949]: ROS Node Namespace: camera

[ INFO] [1615415155.139644061]: Device Name: Intel RealSense D435I

[ INFO] [1615415155.139657852]: Device Serial No: 944122072492

[ INFO] [1615415155.139671757]: Device physical port: 2-2-6

[ INFO] [1615415155.139680750]: Device FW version: 05.12.08.200

[ INFO] [1615415155.139691121]: Device Product ID: 0x0B3A

[ INFO] [1615415155.139702948]: Enable PointCloud: On

[ INFO] [1615415155.139714979]: Align Depth: On

[ INFO] [1615415155.139726685]: Sync Mode: On

[ INFO] [1615415155.139747098]: Device Sensors:

[ INFO] [1615415155.163603653]: Stereo Module was found.

[ INFO] [1615415155.180240722]: RGB Camera was found.

[ INFO] [1615415155.180431715]: Motion Module was found.

[ INFO] [1615415155.180452756]: Add Filter: pointcloud

[ INFO] [1615415155.180881586]: num_filters: 1

[ INFO] [1615415155.180895467]: Setting Dynamic reconfig parameters.

hwmon command 0x7d( 0 0 0 0 ) failed (response -21= No data to return)

[ INFO] [1615415155.630491891]: Done Setting Dynamic reconfig parameters.

[ INFO] [1615415155.631220365]: depth stream is enabled - width: 1280, height: 720, fps: 15, Format: Z16

[ INFO] [1615415155.632225121]: color stream is enabled - width: 1280, height: 720, fps: 15, Format: RGB8

[ INFO] [1615415155.635262202]: setupPublishers…

[ INFO] [1615415155.636847137]: Expected frequency for depth = 15.00000

[ INFO] [1615415155.655650500]: Expected frequency for color = 15.00000

[ INFO] [1615415155.668357700]: Expected frequency for aligned_depth_to_color = 15.00000

[ INFO] [1615415155.684419634]: setupStreams…

[ INFO] [1615415155.694993241]: insert Depth to Stereo Module

[ INFO] [1615415155.695048364]: insert Color to RGB Camera

[ INFO] [1615415155.695076094]: insert Accel to Motion Module

[ INFO] [1615415155.817847138]: SELECTED BASE:Depth, 0

[ INFO] [1615415155.824788454]: RealSense Node Is Up!

[ WARN] [1615415156.171691218]: Could not obtain transform from imu_mobile_base to base_link. Error was Could not find a connection between ‘base_link’ and ‘imu_mobile_base’ because they are not part of the same tree.Tf has two or more unconnected trees.

[ WARN] [1615415157.631188135]: Hardware Notification:Depth stream start failure,1.61542e+12,Error,Hardware Error

[ WARN] [1615415158.192549924]: Could not obtain transform from imu_mobile_base to base_link. Error was Could not find a connection between ‘base_link’ and ‘imu_mobile_base’ because they are not part of the same tree.Tf has two or more unconnected trees.

[ WARN] [1615415160.201589209]: Could not obtain transform from imu_mobile_base to base_link. Error was Could not find a connection between ‘base_link’ and ‘imu_mobile_base’ because they are not part of the same tree.Tf has two or more unconnected trees.

[ WARN] [1615415162.214846048]: Could not obtain transform from imu_mobile_base to base_link. Error was Could not find a connection between ‘base_link’ and ‘imu_mobile_base’ because they are not part of the same tree.Tf has two or more unconnected trees.

[ WARN] [1615415164.234055622]: Could not obtain transform from imu_mobile_base to base_link. Error was Could not find a connection between ‘base_link’ and ‘imu_mobile_base’ because they are not part of the same tree.Tf has two or more unconnected trees.

[ WARN] [1615415166.240788355]: Could not obtain transform from imu_mobile_base to base_link. Error was Could not find a connection between ‘base_link’ and ‘imu_mobile_base’ because they are not part of the same tree.Tf has two or more unconnected trees.

2

Hi @Flynn, welcome to the forum! Looks like an ImportError is the root cause of this issue. If you’ve created or a new user or re-cloned stretch_ros, you can compile the Cython/Numba using the following commands:

# ensure latest stretch_ros code
cd ~/catkin_ws/src/stretch_ros
git pull

# compile Cython code
cd ~/catkin_ws/src/stretch_ros/stretch_funmap/src/stretch_funmap
./compile_cython_code.sh

This will generate the cython_min_cost_path module and prevent the ImportError: No module named cython_min_cost_path error from occuring.

3

Thanks very much! That’s done the trick.