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/tf from /base_link to /camera_link

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Hi, I'm using ccny_rgbd_tools which gives me a transform between /camera_link, which is the base_frame, and /odom, which is the fixed_frame. I'm using MoveIt!, where I have a urdf model which as a camera_link and a base_link, which supposedly already gives a static_tf between them. I have a virtual_joint between camera_link and odom (which is floating, cause it is from a quadrotor). Now running demo.launch (without the static_transform_publisher between camera_link and odom) I get this on the command line: [ WARN] [1404846265.951041568]: No transform available between frame 'odom' and planning frame '/base_link' (Could not find a connection between 'base_link' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) I have a /tf between odom and camera_link, and a /tf from base_link to camera_link, which builds up a tree. Why does it needs a /tf between base_link and odom? Thanks in advance!

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