# NAVIGATION ISSUE: tf error: canTransform: target\_frame map does not exist

**URL:** <https://get-help.theconstruct.ai/t/navigation-issue-tf-error-cantransform-target-frame-map-does-not-exist/8753>\
**Category:** General Support\
**Tags:** error\
**Created:** [March 12, 2021, 12:05pm UTC](https://get-help.theconstruct.ai/t/navigation-issue-tf-error-cantransform-target-frame-map-does-not-exist/8753 "2021-03-12T12:05:28Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Stefano](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/s/aca169/32.png) [@Stefano](https://get-help.theconstruct.ai/u/Stefano)\
**Post date:** [March 12, 2021, 12:05pm UTC](https://get-help.theconstruct.ai/t/navigation-issue-tf-error-cantransform-target-frame-map-does-not-exist/8753/1 "2021-03-12T12:05:28Z")

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Hi I’ve generated my public **rosject** ROS\_IC1\_POMOS for outdoor navigation inspired to the jackal project.  
I first run the robot generation:  
_roslaunch ros\_ic1\_description start\_ros\_ic1.launch_

therefore, I run the the file in the jackal tool folder as follows:  
_roslaunch my\_jackal\_tools start\_navigation\_with\_gps\_ekf\_ros\_ic1.launch_

The following error appear:  
_Timed out waiting for transform from base\_link to map to become available before running costmap, tf error: canTransform: target\_frame map does not exist… canTransform returned after 0.1 timeout was 0.1._  
And warning  
_Transform from base\_link to odom was unavailable for the time requested. Using latest instead._

In the the **tf tree** frame does not appear the map frame that should be connected with the odom frame as you can see.

Also, if I don’t set “odom” to the **world frame** (instead of “map”) in the robot localization yaml file (see robot\_localization\_with\_gps\_ros\_ic1.yaml in folder my\_jackal\_tools/config) , the odom frame won’t appear either.

 ![Cattura](https://get-help.robotigniteacademy.com/uploads/default/original/2X/a/a96c2dabf570f941836996f784c466bab60d1bd1.png)

I do not understawhere should be the problem and how to fix it.  
Can you help me?

Stefano

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<div class="post-metadata">

**Author:** ![Saqibmehmood736](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/s/e19b73/32.png) [@Saqibmehmood736](https://get-help.theconstruct.ai/u/Saqibmehmood736)\
**Post date:** [March 16, 2021, 2:18pm UTC](https://get-help.theconstruct.ai/t/navigation-issue-tf-error-cantransform-target-frame-map-does-not-exist/8753/2 "2021-03-16T14:18:31Z")

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Hello, i am also new to ros and don’t know your exact problem but can you tell me if you are providing a map for outdoor navigation?