ylj6038 / turtlebot-autonomous-explore Goto Github PK

hello,when i run your demo, i met some warning and my rviz displayed nothing.The warning is:
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.

this is the result if rqt_tf_tree, I found that there is no connection between odom and base_footprint,can you tell me why?thanks very much.
my environment is ubuntu16.04,ros kinetic,and gazebo-9.

你好,我在移植你的frontiers exploration程序在我的环境中运行的时候,边界检测一开始就运行就结束退出程序了,这是为什么呢?
process[frontier_explore-1]: started with pid [16231]
[ INFO] [1623757038.322973530, 4401.380000000]: Start Scan.
[ INFO] [1623757058.849751215, 4421.882000000]: End Scan.
[ INFO] [1623757060.356110249, 4423.387000000]: Exploration completed.
[frontier_explore-1] process has finished cleanly

我根据代码定位到原因是在调用边界检测service的时候没有检测到边界点形心,但是程序一开始就没有检测到形心会是什么原因呢?麻烦指点一二,不胜感激.