（foxy教程10.9运行nav2时报错）Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

[3213807618]

在跟着教程走到运行nav2，初始化设置的时候，rviz出现的不是error，而是warm，rviz界面如下：

终端报错如下：

[controller_server-4] [INFO] [1712253661.690443611] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1712253661.773769226] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1712253661.773940891] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-4] [INFO] [1712253662.190515009] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1712253662.690512522] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1712253662.774192578] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1712253662.774363237] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-4] [INFO] [1712253663.190443715] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

目前我自己的nav2功能包中，CMAKEList文件：

cmake_minimum_required(VERSION 3.5)
project(sim_nav2)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(nav2_bringup REQUIRED)

install(
  DIRECTORY launch param maps
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

package.xml文件：

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>sim_nav2</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="wjndem@163.com">jeni</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>nav2_bringup</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
  

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

launch文件：

'''
作者: 小鱼
公众号: 鱼香ROS
QQ交流群: 2642868461
描述: Nav2 launch启动文件
'''
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    #=============================1.定位到包的地址=============================================================
    fishbot_navigation2_dir = get_package_share_directory('sim_nav2')
    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
    
    
    #=============================2.声明参数，获取配置文件路径===================================================
    # use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
    use_sim_time = LaunchConfiguration('use_sim_time', default='true') 
    map_yaml_path = LaunchConfiguration('map',default=os.path.join(fishbot_navigation2_dir,'maps','sim_map.yaml'))
    nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(fishbot_navigation2_dir,'param','whe_nav2.yaml'))
    rviz_config_dir = os.path.join(nav2_bringup_dir,'rviz','nav2_default_view.rviz')

    #=============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
    nav2_bringup_launch = IncludeLaunchDescription(
            PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),
            launch_arguments={
                'map': map_yaml_path,
                'use_sim_time': use_sim_time,
                'params_file': nav2_param_path}.items(),
        )
    rviz_node =  Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen')
    
    return LaunchDescription([nav2_bringup_launch,rviz_node])

麻烦大佬帮忙看看什么问题，谢谢！

[2912773265]

请问解决了吗。我现在也遇到这个问题

[2912773265]

@2912773265 而且我不能选择2d position estimate