turtlebot01/map does not exist when running amcl_demo.launch for two turtlebots

[tx0619s]

I am using Ubuntu14.04 and ROS Indigo to work on two turtlebots navigation. The way I configure the network is to run master_discovery_fkie and master_sync_fkie on each computer. Now I can see topics and services published from each computer.

Then I run roslaunch turtlebot_bringup minimal.launch and roslaunch turtlebot_navigation amcl_demo.launch map_file:=... on turtlebot01. The minimal.launch seems working but I am getting an error message when running amcl_demo:

[ WARN] [1549645522.472822603]: Timed out waiting for transform from base_footprint to turtlebot01/map to become available before running costmap, tf error: canTransform: target_frame turtlebot01/map does not exist.. canTransform returned after 0.100288 timeout was 0.1.

Here I paste minimal.launch, amcl_demo.launch and move_base.launch.xml

My minimal.launch:

<launch>
<group ns="turtlebot01">
  <param name="tf_prefix" value="turtlebot01"></param>
  <!-- Turtlebot -->
  <arg name="base"              default="$(env TURTLEBOT_BASE)"         doc="mobile base type [create, roomba]"/>
  <arg name="battery"           default="$(env TURTLEBOT_BATTERY)"      doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels." />
  <arg name="stacks"            default="$(env TURTLEBOT_STACKS)"       doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
  <arg name="3d_sensor"         default="$(env TURTLEBOT_3D_SENSOR)"    doc="3d sensor types [kinect, asux_xtion_pro]"/>
  <arg name="simulation"        default="$(env TURTLEBOT_SIMULATION)"   doc="set flags to indicate this turtle is run in simulation mode."/>
  <arg name="serialport"        default="$(env TURTLEBOT_SERIAL_PORT)"  doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
  <arg name="robot_name"        default="$(env TURTLEBOT_NAME)"         doc="used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc."/>
  <arg name="robot_type"        default="$(env TURTLEBOT_TYPE)"         doc="just in case you are considering a 'variant' and want to make use of this."/>

  <param name="/use_sim_time" value="$(arg simulation)"/>

  <include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
    <arg name="base" value="$(arg base)" />
    <arg name="stacks" value="$(arg stacks)" />
    <arg name="3d_sensor" value="$(arg 3d_sensor)" />
  </include>
  <include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
    <arg name="base" value="$(arg base)" />
    <arg name="serialport" value="$(arg serialport)" />
  </include>
  <include file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
    <arg name="battery" value="$(arg battery)" />
  </include>

  <!-- Rapp Manager -->
  <arg name="rapp_auto_installation"            default="false"  doc="automatically install rapps from the web (not typically used)"/> <!-- http://wiki.ros.org/rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation -->
  <arg name="rapp_auto_start"                   default=""       doc="pick an app to autostart, e.g. 'rocon_apps/talker'"/>
  <arg name="rapp_package_whitelist"            default="$(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)" doc="a list of catkin packages that provide rapps to be loaded by the app manager."/>
  <arg name="rapp_package_blacklist"            default="$(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)" doc="a list of catkin packages to blacklist from providing rapps."/>
  <arg name="rapp_preferred_configuration_file" default="$(find turtlebot_bringup)/param/preferred_rapp.yaml" doc="a configuration of preferred rapps"/>
  <arg name="robot_icon"                        default="turtlebot_bringup/turtlebot2.png"        doc="passed to user interfaces to socialise the turtlebot's appearance"/>
  <arg name="rapp_verbose"                      default="true"   doc="show verbose output from running apps (aka roslaunch --screen)"/>

  <!-- ***************************** Rocon Master Info ************************** -->
  <arg name="robot_description"                 default="Kick-ass ROS turtle"/>

  <!-- Capabilities -->
  <arg name="capabilities"                      default="true" doc="start and register an underlying capability server"/>
  <arg name="capabilities_server_name"          default="capability_server"/>
  <arg name="capabilities_nodelet_manager_name" default="capability_server_nodelet_manager" />
  <arg name="capabilities_parameters"           default="$(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml"  doc="preload the capability server with this configurations" /> <!-- defaults_tb.yaml, defaults_tb2.yaml -->
  <arg name="capabilities_package_whitelist"    default="[kobuki_capabilities, std_capabilities, turtlebot_capabilities]" doc="register capabilities from these packages only" />
  <arg name="capabilities_blacklist"            default="['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']" doc="blacklist these specific capabilities from being registered" />

  <!-- Interactions -->
  <arg name="interactions"      default="true"  doc="start an interactions manager"/>
  <arg name="interactions_list" default="$(env TURTLEBOT_INTERACTIONS_LIST)" doc="a list of filenames that provide interactions specifications."/>

  <!-- Zeroconf -->
  <arg name="zeroconf"                          default="true"              doc="publish the master information on zeroconf"/>
  <!--arg name="zeroconf_name"                     default="$(arg robot_name)" doc="the name to identify the master on zeroconf"/-->
  <arg name="zeroconf_port"                     default="11311"             doc="port number of the ros master"/>

  <!-- Rapp Manager -->
  <include file="$(find rocon_app_manager)/launch/standalone.launch">

    <!-- Rapp Manager -->
    <arg name="robot_name"                        value="$(arg robot_name)" />
    <arg name="robot_type"                        value="$(arg robot_type)" />
    <arg name="robot_icon"                        value="$(arg robot_icon)" />
    <arg name="rapp_package_whitelist"            value="$(arg rapp_package_whitelist)" />
    <arg name="rapp_package_blacklist"            value="$(arg rapp_package_blacklist)" />
    <arg name="rapp_preferred_configuration_file" value="$(arg rapp_preferred_configuration_file)" />
    <arg name="auto_start_rapp"                   value="$(arg rapp_auto_start)" />
    <arg name="screen"                            value="$(arg rapp_verbose)" />
    <arg name="auto_rapp_installation"            value="$(arg rapp_auto_installation)" />

    <!-- Rocon Master Info -->
    <arg name="robot_description"                 value="$(arg robot_description)" />

    <!-- Capabilities -->
    <arg name="capabilities"                      value="$(arg capabilities)" />
    <arg name="capabilities_blacklist"            value="$(arg capabilities_blacklist)" />
    <arg name="capabilities_nodelet_manager_name" value="$(arg capabilities_nodelet_manager_name)" />
    <arg name="capabilities_server_name"          value="$(arg capabilities_server_name)" />
    <arg name="capabilities_package_whitelist"    value="$(arg capabilities_package_whitelist)" />
    <arg name="capabilities_parameters"           value="$(arg capabilities_parameters)" />

    <!-- Interactions -->
    <arg name="interactions"                      value="$(arg interactions)"/>
    <arg name="interactions_list"                 value="$(arg interactions_list)"/>

    <!-- Zeroconf -->
    <arg name="zeroconf"                          value="$(arg zeroconf)"/>
    <!--arg name="zeroconf_name"                     value="$(arg zeroconf_name)"/-->
    <arg name="zeroconf_port"                     value="$(arg zeroconf_port)"/>

  </include>

</group>
</launch>

My amcl_demo.launch:

<launch>
<group ns="turtlebot01">
  <param name="tf_prefix" value="turtlebot01"></param>
  <!-- 3D sensor -->
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="rgb_processing" value="false" />
    <arg name="depth_registration" value="false" />
    <arg name="depth_processing" value="false" />
   
    <!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
         Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 -->
    <arg name="scan_topic" value="/scan" />
  </include>

  <!-- Map server -->
  <!--arg name="map_file" default="$(env TURTLEBOT_MAP_FILE)"/-->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find turtlebot_go1)/../map/1_25_19_2.yaml">
    <param name="frame_id" value="/map"/>
  </node>

  <!-- AMCL -->
  <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/>
  <arg name="initial_pose_x" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
  <arg name="initial_pose_y" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
  <arg name="initial_pose_a" default="0.0"/>
  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
  <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
    <arg name="custom_param_file" value="$(arg custom_param_file)"/>
  </include>

</group>
</launch>

My move_base.launch.xml:

  <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
  <include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>

  <arg name="tf_prefix" value="turtlebot01"/>
  <arg name="odom_frame_id"   default="/odom"/>
  <arg name="base_frame_id"   default="/base_footprint"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="odom_topic" default="odom" />
  <arg name="laser_topic" default="scan" />
  <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/dummy.yaml"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />  
    <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />  
    <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/dwa_local_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/global_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/navfn_global_planner_params.yaml" command="load" />
    <!-- external params file that could be loaded into the move_base namespace -->
    <rosparam file="$(arg custom_param_file)" command="load" />
   
    <!-- reset frame_id parameters using user input data -->
    <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
    <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
    <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>

    <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
    <remap from="odom" to="$(arg odom_topic)"/>
    <remap from="scan" to="$(arg laser_topic)"/>
    <remap from="map" to="/map"/>
   
  </node>
</launch>