Rviz tf 'world' does not exist
Hello everyone,
Basic info:
env | grep ROS:
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/home/mifa/ws_moveit/src/moveit_tutorials:/home/mifa/ws_moveit/src/panda_custom_moveit_config:/home/mifa/ws_moveit/src/panda_moveit_config:/home/mifa/ws_moveit/src/universal_robot/universal_robot:/home/mifa/ws_moveit/src/universal_robot/universal_robots:/home/mifa/ws_moveit/src/universal_robot/ur_bringup:/home/mifa/ws_moveit/src/universal_robot/ur_description:/home/mifa/ws_moveit/src/universal_robot/ur10_e_moveit_config:/home/mifa/ws_moveit/src/universal_robot/ur10_moveit_config:/home/mifa/ws_moveit/src/universal_robot/ur3_e_moveit_config:/home/mifa/ws_moveit/src/universal_robot/ur3_moveit_config:/home/mifa/ws_moveit/src/universal_robot/ur5_e_moveit_config:/home/mifa/ws_moveit/src/universal_robot/ur5_moveit_config:/home/mifa/ws_moveit/src/universal_robot/ur_driver:/home/mifa/ws_moveit/src/universal_robot/ur_gazebo:/home/mifa/ws_moveit/src/universal_robot/ur_kinematics:/home/mifa/ws_moveit/src/universal_robot/ur_msgs:/home/mifa/ws_moveit/src/ur_modern_driver:/opt/ros/kinetic/share
ROS_MASTER_URI=http://pickit-097:11311/
ROS_VERSION=1
ROSLISP_PACKAGE_DIRECTORIES=/home/mifa/ws_moveit/devel/share/common-lisp
ROS_DISTRO=kinetic
ROS_IP=192.168.203.151
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
OS: ubuntu 16.04
I've been trying to get a UR10 moving in Rviz using moveit. This worked. Now i want to add my end effector to the URDF so that this will also be included in the plath planning.
For some reason i am unable to get this to work in Rviz. My problem:
I use the standard files i downloaded from the 'universal_robot' package, but in Rviz is get the following error:
My fixed frame is set to 'world'. The tf world is made in the ur10_robot.urdf.xacro, provided by the ur_description.
Then at global options an error appears saying "Fixed Frame [world] does not exist" At my RobotModel status is Error, saying:
URDF parsed OK
tranform (world to world) OK
No transform from [base] to [world]
No transform from [base_link] to [world]
No transform from [ee_link] to [world]
No transform from [forearm_link] to [world]
No transform from [tool0] to [world]
and this for all links in the URDF
Am i missing something and is this even the right way to link multiple URDF's to eachother?
Kind regards, Jan Tromp
I don't believe we can answer this as you don't describe how you've actually added the EEF to the URDF.
What do you mean? You mean the physical connection? or the way i added the camera to the URDF.
Yes, at the very least.
You state that what "you did" did not work, but you don't show us what you did. You then ask us whether what "you did" is the right way, but without seeing what you did we cannot really know, can we?