PX4-Avoidance and TF Buffer: could not retrieve requested transform from buffer, unregistered

Hi PX4 community,

Hardware:

FCU: Pixhawk4
Firmware Version: 1.12.3
Companion computer: Jetson Nano
Realsense camera D435

Summary:

I am trying to implement PX4- Avoidance (Local planner) with Intel Realsense camera (D435).
when I run the launch file:
roslaunch local_planner avoidance.launch fcu_url:=/dev/ttyTHS1:921600

I got the below error:

BTW, I can run PX-Avoidance with PX4 firmware (version 1.11.3) without any issue, however I am using version 1.12.3.

The below attachment is tf :
frames.pdf (19.6 KB)

it seems there is no “local_origin” in the tf tree.

Could you please advise me how can I solve this issue?

Thanks in advance

Hello!
Have you found a solution for this issue?