Hi,

I'm trying to create a new robot model that implements a LIDAR and a camera, all of that using rtabmap_ros.

In order to do that, I created the following basic URDF:

<?xml version="1.0"?>

<robot name="erl_ugv">
  <link name="base_footprint"/>
  <link name="base_link"/>
  <link name="laser_link"/>

  <joint name="base_link_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0 0 0.025" rpy="0 0 0"/>
  </joint>

  <joint name="laser_link_joint" type="fixed">
    <parent link="base_link"/>
    <child link="laser_link"/>
    <origin xyz="0.08 0.006 0.44" rpy="0 0 0"/>
  </joint>
</robot>

(it's the fixed structure of the robot). I also created the parser.cpp file as explained on this tutorial

I tried to make all of this work thanks to the following launch file:

<launch>
  <arg name="model"/>
  <param name="robot_description" textfile="$(find erl_ugv_description)/urdf/erl_ugv.urdf"/>
  <param name="use_gui" value="true"/>
  <param name="use_sim_time" value="false"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" respawn="false"/>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find erl_ugv_description)/urdf.rviz" required="true" />

  <node pkg="tf" type="static_transform_publisher" name="base_laser_link" args="0.08 0.006 0.44 0 0 0 /base_link /base_laser_link 100" />
  <node pkg="tf" type="static_transform_publisher" name="laser" args="0.08 0.006 0.44 0 0 0 /base_link /laser 100" />
  <node pkg="tf" type="static_transform_publisher" name="camera_link" args="0.095 0 0.225 0 0 0 /base_link /camera_link 100" />
</launch>

with erl_ugv_description being the name of the dedicated package created in my catkin_ws

The thing is, when I roslaunch the previous file, I get the expected tf and axes in rviz. But also an error that says

[joint_state_publisher-2] process has died

I'm wondering whether the non completion of this tutorial on creating a state_publisher node with a C++ code is responsible for my failure. I'm asking this here because I don't understand how I could adapt the C++ code to my situation (a fixed structure, so what about the odom_trans, hinc, etc ? ...).

Thanks !

EDIT

Here is the log of the roslaunch with the launch file pasted at the beginning of this post.

 turtlebot@turtlebot-14:~/erl/logs_new$ roslaunch erl_ugv_description beta.launch... logging to /home/turtlebot/.ros/log/072eb570-7041-11e7-93b9-605718b05f9f/roslaunch-turtlebot-14-4597.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.42.0.148:33667/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /use_gui: True
 * /use_sim_time: False

NODES
  /
    base_laser_link (tf/static_transform_publisher)
    camera_link (tf/static_transform_publisher)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    laser (tf/static_transform_publisher)
    robot_state_publisher (robot_state_publisher/state_publisher)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://10.42.0.148:11311

core service [/rosout] found
process[joint_state_publisher-1]: started with pid [4615]
process[robot_state_publisher-2]: started with pid [4616]
process[rviz-3]: started with pid [4619]
process[base_laser_link-4]: started with pid [4620]
process[laser-5]: started with pid [4621]
process[camera_link-6]: started with pid [4626]
Traceback (most recent call last):
  File "/opt/ros/indigo/lib ...