Hello Thiaga,
Your ROSbots are publishing tf frames with prefixes. We are considering base_link frames, these are:
-
first/base_link- for one of the ROSbots -
second/base_link- for the second ROSbot
Move base is configured to search for frames map → base_link, it is without prefixes.
The map frame is published without any prefix, this one will not cause any problem.
Issue is caused with base_link due to fact that, ROSbots are publishing with prefixes, while move_base wants it without prefix.
Warning is thrown by costmap component, the frame definition will be in one of the files:
$(find swarm_pkg)/config/costmap_common_params.yaml$(find swarm_pkg)/config/local_costmap_params.yaml/home/jeyesh/ros_workspace/src/swarm_pkg/config/global_costmap_params.yaml
Set the searched 'base_link` frame with appropriate prefix.
Regards,
Łukasz