[nav2_get_tf]: Unable to get transform between base_link and map (#649)

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Posted by @akshay-ka:

Hello,

I’m integrating free_fleet with rmf-web for my custom robot (runs on ros2).

Below is the stack I’m running:

My PC (Ubuntu 24 LTS) : API server + dashboard + browser + Open-RMF + free fleet adapter
AGX robot: nav2 + zenoh bridge

With the above stack, I’m unable to get transforms when i run the script ros2 run free_fleet_examples nav2_get_tf.py \ --namespace diadem1 -b base_link on my pc.

However, when I run the same script on my robot (AGX Orin), I’m able to get the transforms correctly.

Interestingly, when I run ros2 run free_fleet_examples nav2_get_tf.py -namespace diadem1 -b base_link on my machine, the [nav2_get_tf] node is discovered by the zenoh-bridge running on my robot (see screenshot below), but i won’t get the transforms on my pc.

Could anyone provide guidance or clarification for this problem ?

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Posted by @aaronchongth:

can I check whether you are running a Zenoh router? The advised architecture is to have a router to handle discovery and traffic of the zenoh bridges.