ROS2无法建立起odom->base_footprint之间的tf2变换

[td]

使用里程计发布odom话题，并建立odom->base_footprint的之间tf2变换，代码如下：

import rclpy
from rclpy.node import Node
from nav_msgs.msg import Odometry
import tf2_ros
from tf2_ros import TransformBroadcaster
from geometry_msgs.msg import TransformStamped
import math
 
class OdometryPublisher(Node):
    def __init__(self):
        super().__init__('odom_tf')
        self.publisher = self.create_publisher(Odometry, 'odom', 10)
        self.timer = self.create_timer(0.1, self.publish_odometry)
        self.odom_frame_id = 'odom'
        self.child_frame_id = 'base_link'
        self.odom_broadcaster = TransformBroadcaster(self)
 
        # 初始化里程计变量
        self.x = 1.0
        self.y = -30.0
        self.theta = 1.0

        self.vx = 0.0  # 例子中使用的线速度
        self.vtheta = 0.0  # 例子中使用的角速度
 
    def publish_odometry(self):
        # 更新里程计信息
        self.x += self.vx * math.cos(self.theta)
        self.y += self.vx * math.sin(self.theta)
        self.theta += self.vtheta
 
        # 发布TransformStamped消息
        odom_trans = TransformStamped()
        odom_trans.header.stamp = self.get_clock().now().to_msg()
        odom_trans.header.frame_id = self.odom_frame_id
        odom_trans.child_frame_id = self.child_frame_id
        odom_trans.transform.translation.x = self.x
        odom_trans.transform.translation.y = self.y
        odom_trans.transform.rotation.w = math.cos(self.theta / 2)
        odom_trans.transform.rotation.z = math.sin(self.theta / 2)
        self.odom_broadcaster.sendTransform(odom_trans)
 
        # 发布Odometry消息
        odom_msg = Odometry()
        odom_msg.header.stamp = self.get_clock().now().to_msg()
        odom_msg.header.frame_id = self.odom_frame_id
        odom_msg.child_frame_id = self.child_frame_id
        odom_msg.pose.pose.position.x = self.x
        odom_msg.pose.pose.position.y = self.y
        odom_msg.pose.pose.orientation.w = math.cos(self.theta / 2)
        odom_msg.pose.pose.orientation.z = math.sin(self.theta / 2)
        odom_msg.twist.twist.linear.x = self.vx
        odom_msg.twist.twist.angular.z = self.vtheta
 
        self.publisher.publish(odom_msg)
 
def main(args=None):
    rclpy.init(args=args)
    node = OdometryPublisher()
    rclpy.spin(node)
    rclpy.shutdown()
 
if __name__ == '__main__':
    main()

tf树也显示了连接：

但是无法建立map->odom之间的联系，而且在rviz2里面以odom为Fixed Frame，也没有雷达点云信息

如果使用终端发布固定tf2变换，就可以建立odom与雷达之间的联系

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint

而且也建立了map->odom之间的tf2变换,也可以进行导航，只不过机器人无法相对于map进行移动