# No transform from [base_link] to [/map]

I started to create my URDF robot model, using ros tutorials as reference. But when I try to visualize the model using rviz, an error happens:

.Global Options

.Global Status: warning + Fixed frame: No tf data. Actual error: Fixed Frame [/map] does not exist

1. Grid (Grid)

2. Robot Model (Robot Model):

3. Status: Error

What am I missing here?

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I may not be considering this correctly, but it may be as simple as changing your "fixed frame" under ".Global Options" to "/", "/world", or some fixed frame that you do have a transform for. "/base_link"

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According to the error message, I guess the fixed frame should be /base_link.  ( 2011-07-28 20:07:07 -0500 )edit

The rviz fixed frame is the frame that will act as the origin of coordinates on rviz. You can use whichever frame you want, as long as transforms exist between this frame and the rest of the frames published (e.g. robot frames: base_link, laser, etc.).

You've set the rviz fixed frame to /map, which is the frame that's usually used for navigation, but no node is publishing the transform between the map frame and the base_link frame on your robot. You should publish this transform if you really need to set /map as the fixed frame, or either change the fixed frame to some of the frames defined on your robot. This last option is the quickest if you only need to visualize the robot model.

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That's true. But what if you want all in the /map frame? I have /map->/odom->base_footprint->base_link->wheel and the individual transforms between parent and child are all defined. But it still gives the above error for /map to /base_link? Does tf not compute the total tf from individual tfs?

( 2014-07-02 17:26:30 -0500 )edit