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Fixed Frame [map] does not exist

asked 2016-11-30 01:03:13 -0500

zakizadeh gravatar image

updated 2016-11-30 01:05:22 -0500

hi . i using solidworks to get urdf file .

in rviz i have this error : Fixed Frame [map] does not exist

how can i fix that error ????

it is my launch file :

 <launch>
  <arg name="model" />
  <param name="robot_description" textfile="$(find wrist)/urdf/wrist.urdf" />
  <param name="use_gui" value="true" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 <node name="rviz" pkg="rviz" type="rviz" args="-d $(find wrist)/urdf.rviz" required="true" />
</launch>

it is my urdf file :

    <?xml version="1.0"?>
<robot name="wrist">
  <link name="base_link">
    <inertial>
      <origin xyz="-0.0155222222222222 0.0506514619883041 -0.0711837607475986" rpy="0 0 0" />
      <mass value="0.161357633901786" />
      <inertia ixx="0" ixy="0" ixz="0" iyy="0"  iyz="0" izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/base_link.stl" />
      </geometry>
      <material  name="">
        <color  rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/base_link.stl" />
      </geometry>
    </collision>
  </link>
  <link name="m2_1">
    <inertial>
      <origin xyz="1.73472347597681E-18 3.46944695195361E-18 -0.0748894348894349" rpy="0 0 0" />
      <mass value="0.0767176926006627" />
      <inertia  ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh  filename="package://wrist/meshes/m2_1.stl" />
      </geometry>
      <material  name="">
        <color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin  xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/m2_1.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="m2_1"  type="continuous">
    <origin xyz="-0.0155222222222222 0.0225000000000004 0.0416514619883041" rpy="3.14159265358979 0 0" />
    <parent link="base_link" />
    <child link="m2_1" />
    <axis xyz="0 0 -1" />
  </joint>
  <link name="4_1">
    <inertial>
      <origin xyz="5.20417042793042E-18 1.38777878078145E-17 0.0075" rpy="0 0 0" />
      <mass value="0.192949779317265" />
      <inertia ixx="0" ixy="0" ixz="0"  iyy="0" iyz="0"  izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/4_1.stl" />
      </geometry>
      <material name="">
        <color  rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh  filename="package://wrist/meshes/4_1.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="4_1" type="fixed">
    <origin xyz="-0.0155222222222222 0.00750000000000036 0.0506514619883041" rpy="1.5707963267949 0 0" />
    <parent link="base_link" />
    <child link="4_1" />
    <axis xyz="0 0 0" />
  </joint>
  <link name="m1_1">
    <inertial>
      <origin xyz="6.93889390390723E-18 0 0.0444256539427829" rpy="0 0 0" />
      <mass value="0.0916588444916701" />
      <inertia ixx="0"  ixy="0" ixz="0" iyy="0" iyz="0"  izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/m1_1.stl" />
      </geometry>
      <material name="">
        <color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/m1_1.stl" />
      </geometry>
    </collision>
  </link>
  <joint name ...
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answered 2016-11-30 01:19:36 -0500

NEngelhard gravatar image

If you just load the robot, why should RVIZ know where in the map your robot is located? So either publish or define this transformation or just set the fixed frame to "base_link".

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Asked: 2016-11-30 01:03:13 -0500

Seen: 2,122 times

Last updated: Nov 30 '16