camera_frame does not exist.
Hi, I am new in ROS and I'm going through the ROS-Industrial tutorial and I've stopped on exercise 4.0 http://ros-industrial.github.io/indus...
I get errors like below
[ERROR] [1511855001.563918253]: Exception thrown while processing service call: "camera_frame" passed to lookupTransform argument source_frame does not exist.
[ERROR] [1511855001.564382981]: Service call failed: service [/localize_part] responded with an error: "camera_frame" passed to lookupTransform argument source_frame does not exist.
[ERROR] [1511855001.564592927]: Could not localize part
I verified frames with command:
rosrun tf view_frames
and it is true. There are many frames such as world, base_link, shoulder_link etc. but there is no camera_frame at all. My question is where I could make a mistake or How to add camera_frame to robot environment.
Update 29th Nov 2017 9:10
I found in fake_ar_publisher code method comment
// Given a marker w/ pose data, publish an RViz visualization
// You'll need to add a "Marker" visualizer in RVIZ AND define
// the "camera_frame" TF frame somewhere to see it.
so I added marker but I can see nothing and I don't know also how to add TF frame.
Update 30th Nov 2017 8:40
I found solution which works for me. Apart from Marker added Yesterday I also added camera_frame broadcaster.
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
void broadcastCameraPosition(tf::TransformBroadcaster &br,tf::Transform &transform) {
transform.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
transform.setRotation(tf::Quaternion(0, 0, 0, 1));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "camera_frame"));
ROS_INFO("Transform camera_frame sent.");
}
int main(int argc, char **argv) {
ros::init(argc, argv, "camera_frame_node");
ros::NodeHandle nh;
tf::TransformBroadcaster br;
tf::Transform transform;
ros::Rate loop_rate(0.5);
int count = 0;
while (ros::ok()) {
broadcastCameraPosition(br,transform);
ros::spinOnce();
loop_rate.sleep();
}
}
What command/s do you run? Is 4.0/src/myworkcell_support/launch/urdf.launch getting launched?
In the tutorial is written that I should run only:
I tried Your launcher also Your command but it doesn't help.