Hi,

I account a problem when using virtual laser. I could see the laser points in rviz when the link name of "hokuyolink" doesn't change to "laserlink" in the following urdf code. Using the following code (change to "laserlink"), I could see nothing laser points but the error which shows "For frame [hokuyolink]: Frame [hokuyolink] does not exist". There is no hokuyolink but it has a laserlink instead. I just could not understand why rviz needs hokuyolink even if it has been replaced with "laserlink" in urdf file. How to make it work with the link of "laserlink"? Thanks!

<!-- hokuyo --> 0 0 0 0 0 0 false 40 720 1 -3.1415926 3.1415926 0.10 3000.0 0.1 gaussian <!-- Noise parameters based on published spec for Hokuyo laser achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and stddev of 0.01m will put 99.7% of samples within 0.03m of the true reading. --> 0.0 0.01 /scan laser_link