Hello,

In our robots we have multiple launch files that should be launched at different instants.

One of them launches several packages that broadcast tf transforms, and the other launches navigation packages that have tf listeners.

The problem is:

• Imagine that I have launchfile1 that launches N packages that broadcast tf transforms
• Imagine that I have launchfile2 that launches M packages that implement tf listeners
• If I launch both launch files simultaneously, no problem occurs
• Now, if I kill launchfile2 for some reason and launch it again without killing launchfile1, I have tf issues such as:

frame /odom does not exist

• Now, if I kill both launchfile1 and launchfile2 and launch them simultaneously again, the problem disappears.

This is an issue because I want to launch launchfile1 at boot, and be able to kill and relaunch launchfile2 at any point, but with this issue it is not possible.

Can someone help?

Thanks in advance.