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I don't understand you. Did you execute following command?

roscore
rosrun rviz rviz

That's it. As you don't call a map and robot_description in this case, I think that the error message [No tf data. Actual error] is a normal result. If not so, I hope you explain us more detail.

@sendoh: I' sorry, I don't understand you. you well. Did you execute following command?

roscore
rosrun rviz rviz

That's it. As you don't call a map and robot_description in this case, I think that the error message [No tf data. Actual error] is a normal result. If not so, I hope you explain us more detail.