轮子tf不发布

2693540950

[ WARN] [1744260619.496278680, 2376.280000000]: Timed out waiting for 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.. canTransform returned after 2376.28 timeout was 0.1.有这个警告，而且没有轮子的tf发布
但发布rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}"
gazebo中模型运动但rviz中无轮子,在模型中插入了gazebo/libgazebo_ros_planar_move.so插件进行四轮驱动

小鱼

@2693540950

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