I’m trying to do navigation in Ros, but when I run the navigation launch file with the map obtained through slam, it doesn’t work properly. When I check the tf tree, the map and odom do not exist as shown below.
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I am currently using ROS Melodic and the move_base package for navigation. I am utilizing the A* global planner and DWA local planner and would like the vehicle to follow a path passing through specific waypoints. These waypoints are aligned in a straight line, and since there are no obstacles, the A* global planner generates a global path that is almost perfectly straight. However, due to the characteristics of the local planner and variables such as the costmap values, the local planner often creates a slightly winding local path rather than following the straight global path generated by A*.