Can't get lidar pose

[vietnvrkai]

Dear Prof @ryuichiueda ,

I'm running your emcl2 to localize turtlebot3_burger on gazebo. But it get

can't get lidar pose info

Meanwhile, my .launch file here:

<?xml version="1.0"?>
<launch>
  <!-- Set tf -->
  <node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 world map 100" />

  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="map_file" default="$(find turtlebot3_navigation)/maps/custom_world.yaml"/>
  <arg name="open_rviz" default="false"/>
  <arg name="move_forward_only" default="false"/>

  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

  <!-- AMCL -->
  <!-- <include file="$(find turtlebot3_navigation)/launch/amcl.launch"/> -->
  
  <!--EMCL-->
  <include file="$(find turtlebot3_navigation)/launch/emcl2.launch"/>
  
  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>

  <!-- rviz -->
  <node if="$(arg open_rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
</launch>

And this is my emcl2.launch:

<?xml version="1.0"?>
<launch>
  <!-- Arguments -->
  <arg name="scan_topic"     default="scan"/>
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>

  <!-- EMCL2 -->
  <node pkg="emcl2" type="emcl2_node" name="emcl2_node" output="screen">

    <param name="odom_freq"                 value="20"/>
    <param name="num_particles"             value="3000"/>

    <param name="odom_frame_id"             value="odom"/>
    <param name="footprint_frame_id"        value="base_footprint"/>
    <param name="base_frame_id"             value="base_link"/>

    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>

    <param name="odom_fw_dev_per_fw"       value="0.1"/>
    <param name="odom_fw_dev_per_rot"      value="0.1"/>
    <param name="odom_rot_dev_per_fw"      value="0.1"/>
    <param name="odom_rot_dev_per_rot"     value="0.1"/>

    <param name="laser_likelihood_max_dist" value="2.0"/>

    <param name="alpha_threshold" value="0.5"/>
    <param name="open_space_threshold" value="0.05"/>

    <param name="expansion_radius_position" value="0.1"/>
    <param name="expansion_radius_orientation" value="0.2"/>

    <param name="range_threshold" value="0.3"/>

    <remap from="scan"                      to="$(arg scan_topic)"/>
    <param name="laser_min_range"           value="0.02"/>
    <param name="laser_max_range"           value="8.0"/>

    <param name="scan_increment"           value="0.015"/>

  </node>
</launch>

My tf_tree has no map->odom. Please help me fix it. Thank you very much