Transform issue

[awaisk65]

Hello,

I am new to robot_localization package and i have been stuck with the transform issue.

Currently, i am using the ukf node from robot_localization package with px4 quadcopter. I am using IMU + GPS data.

Subscribed topics:

1. "/mavros/imu/data" (NED), which is converted to ENU using a simple python script.
2. "/mavros/global_position/raw/fix" for gps data
3. "/mavros/local_position/odom" (NED), which is converted to ENU using a simple python script. This is used to get out of deadlock between navsat_transform_node and ukf_node.

With the above configurations, i am getting data on /odometry/filtered topic but the transform is not correctly applied. My odom -> base_link and linked and are in the same tree but map -> odom are not connected.

rosrun tf tf_echo map odom:
Failure at 2006.064000000
Exception thrown:Could not find a connection between 'map' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.
The current list of frames is:
Frame map_ned exists with parent map.
Frame odom_ned exists with parent odom.
Frame base_link_frd exists with parent base_link.
Frame utm exists with parent odom.

I need guidance on how can i make the transform like map -> odom -> base_link so that all are in the same tree.

Thanks in advance @ayrton04 @SteveMacenski