update init

examples/NavigationExample/Program.cs

@@ -159,6 +159,15 @@ namespace NavigationExample
         [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
         public static extern void tf_listener_destroy(IntPtr handle);
 
+        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+        [return: MarshalAs(UnmanagedType.I1)]
+        public static extern bool tf_listener_set_static_transform(
+            IntPtr tf_handle,
+            string parent_frame,
+            string child_frame,
+            double x, double y, double z,
+            double qx, double qy, double qz, double qw);
+
         // ============================================================================
         // Navigation Interface Methods
         // ============================================================================
@@ -267,6 +276,26 @@ namespace NavigationExample
                 return;
             }
 
+            // Inject a static TF so costmap can immediately canTransform(map <-> base_link).
+            // If you already publish TF from localization/odometry, you can remove this call.
+            if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "map", "odom",
+                                                               0, 0, 0,
+                                                               0, 0, 0, 1))
+            {
+                LogError("Failed to inject static TF map -> odom");
+                NavigationAPI.tf_listener_destroy(tfHandle);
+                return;
+            }
+
+                        if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "odom", "base_link",
+                                                               0, 0, 0,
+                                                               0, 0, 0, 1))
+            {
+                LogError("Failed to inject static TF map -> base_link");
+                NavigationAPI.tf_listener_destroy(tfHandle);
+                return;
+            }
+
             // Create navigation instance
             IntPtr navHandle = NavigationAPI.navigation_create();
             if (navHandle == IntPtr.Zero)