# Tf map and odom error **URL:** \ **Category:** External Requests\ **Created:** [August 2, 2023, 3:31pm UTC](https://get-help.theconstruct.ai/t/tf-map-and-odom-error/25660 "2023-08-02T15:31:26Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![duygiangtemp](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/d/87869e/32.png) [@duygiangtemp](https://get-help.theconstruct.ai/u/duygiangtemp)\ **Post date:** [August 2, 2023, 3:31pm UTC](https://get-help.theconstruct.ai/t/tf-map-and-odom-error/25660/1 "2023-08-02T15:31:26Z")
![image](https://get-help.robotigniteacademy.com/uploads/default/original/2X/d/dc5f87b5e81105c7bc7871ce8ea3c0869ff28706.png) I want to ask after I run the command: rosrun tf static\_transform\_publisher 0 0 0 0 0 0 map odom then odom is attached to map. But I think the odom framework has to be tied to the robot. So what do I have to do to get the frame back to its original state. Since I used tf with base\_camera, base\_footfrint. And I think I messed up the robot’s inherent tf ---
**Author:** ![girishkumar.kannan](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/girishkumar.kannan/32/6994_2.png) [@girishkumar.kannan](https://get-help.theconstruct.ai/u/girishkumar.kannan)\ **Post date:** [August 2, 2023, 4:28pm UTC](https://get-help.theconstruct.ai/t/tf-map-and-odom-error/25660/2 "2023-08-02T16:28:36Z")
Hi @duygiangtemp , I am not exactly sure what you are working on. If you can, please provide some context as to what you are doing and trying to accomplish. I am assuming that you are working on ROS1 Navigation (I cannot see QoS for `Map` and I can see Unreliable check box so I am confirming it is ROS1 and not ROS2). I think working on your navigation parameters `yaml` file can solve your problem. When working with navigation, `map` is the best frame to use rather than `odom`. I hope this helps. Regards, Girish ---
**Author:** ![duygiangtemp](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/d/87869e/32.png) [@duygiangtemp](https://get-help.theconstruct.ai/u/duygiangtemp)\ **Post date:** [August 3, 2023, 12:36am UTC](https://get-help.theconstruct.ai/t/tf-map-and-odom-error/25660/3 "2023-08-03T00:36:18Z")
Just like you said, I’m navigating with ROS1. I followed the instructions in the Navigation in 5 Days course. In the course there are instructions for me to configure using yaml files. But I don’t know the yaml file is the cause of the problem. Gampping or amcl? ---
**Author:** ![duygiangtemp](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/d/87869e/32.png) [@duygiangtemp](https://get-help.theconstruct.ai/u/duygiangtemp)\ **Post date:** [August 3, 2023, 12:40am UTC](https://get-help.theconstruct.ai/t/tf-map-and-odom-error/25660/4 "2023-08-03T00:40:35Z")
![image](https://get-help.robotigniteacademy.com/uploads/default/original/2X/e/e55a5da875ac597f6faea983f00c4f68e9b0c426.png) ![image](https://get-help.robotigniteacademy.com/uploads/default/original/2X/d/d17e6ab6afcb8ea43b66f23b9a63b3ad07011e95.png) Here are 2 yaml configuration files. I have looked through but don’t know what is the cause of the problem. I still think because of the tf statement above ---
**Author:** ![girishkumar.kannan](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/girishkumar.kannan/32/6994_2.png) [@girishkumar.kannan](https://get-help.theconstruct.ai/u/girishkumar.kannan)\ **Post date:** [August 3, 2023, 6:37am UTC](https://get-help.theconstruct.ai/t/tf-map-and-odom-error/25660/5 "2023-08-03T06:37:33Z")
Hi @duygiangtemp , You have made 4 posts and still you have not mentioned what problem you have. Please describe what is the problem that you are facing. Also, you need to try changing a lot of parameter values in `gmapping`, `amcl`, `global_planner`, `local_planner`, `move_base_params` and `costmap_params` to suit your needs. Try to do them one by one, mapping first, then localization, finally path planning. You will get bored and lost if you do all together. Each parameter is described in detain in the documentation. Refer docs to know what each parameter does and then fine tune your parameters based on your robot’s response in the simulation. Regards, Girish ---
**Author:** ![system](https://get-help.theconstruct.ai/uploads/default/original/2X/9/9d3ce8305cc0d0d9b6e07d15767a6f245c526f1b.jpeg) [@system](https://get-help.theconstruct.ai/u/system)\ **Post date:** [August 8, 2023, 6:37am UTC](https://get-help.theconstruct.ai/t/tf-map-and-odom-error/25660/6 "2023-08-08T06:37:40Z")
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