For frame [hokuyo_link]: Frame [hokuyo_link] does not exist

asked 2015-08-27 02:48:40 -0600

rosRabbit gravatar image


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

<gazebo reference="laser_link"> <sensor type="ray" name="head_hokuyo_sensor"> <pose>0 0 0 0 0 0</pose> <visualize>false</visualize> <update_rate>40</update_rate> <ray> <scan> <horizontal> <samples>720</samples> <resolution>1</resolution> <min_angle>-3.1415926</min_angle> <max_angle>3.1415926</max_angle> </horizontal> </scan> <range> <min>0.10</min> <max>3000.0</max> <resolution>0.1</resolution> </range> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </ray> <plugin name="gazebo_ros_head_laser_controller" filename=""> <topicname>/scan</topicname> <framename>laser_link</framename> </plugin> </sensor> </gazebo>

<joint name="laser_joint" type="fixed"> <parent link="base_link"/> <child link="laser_link"/> <origin xyz="0.18 0 0.11" rpy="0 0 0"/> <axis xyz="0 0 0"/> </joint>

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I am facing the same problem on my RVIZ...for both the front and the rear Lidar.

Transform [sender=unknown_publisher] For frame [hokuyo_front_laser_link]: Frame [hokuyo_front_laser_link] does not exist

Aqib Khan gravatar image Aqib Khan  ( 2017-05-04 17:24:22 -0600 )edit

Is there any solution for this problem?

Nagarjun gravatar image Nagarjun  ( 2020-11-17 15:56:35 -0600 )edit