no transform to wheels
0 i created a robot description robot.urdf when it display in rviz all is shown good but there was no wheels in the rviz just the base link and sensor
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
<visual>
<geometry>
<box size="0.64 0.45 0.03"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<link name="wheel_front_left">
<visual>
<geometry>
<cylinder length="0.03" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.015"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<link name="wheel_front_right">
<visual>
<geometry>
<cylinder length="0.03" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 -0.015"/>
<material name="black"/>
</visual>
</link>
<link name="wheel_back_left">
<visual>
<geometry>
<cylinder length="0.03" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.015"/>
<material name="black"/>
</visual>
</link>
<link name="wheel_back_right">
<visual>
<geometry>
<cylinder length="0.03" radius="0.1"/>
</geometry>
<material name="black"/>
<origin rpy="0 0 0" xyz="0 0 -0.015"/>
</visual>
</link>
<link name="laser">
<visual>
<geometry>
<box size="0.06 0.28 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="green">
<color rgba="0 0.9 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_front_left" type="continuous">
<parent link="base_link"/>
<child link="wheel_front_left"/>
<origin rpy="-1.570796327 0 0" xyz="0.17 0.225 0"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_front_right" type="continuous">
<parent link="base_link"/>
<child link="wheel_front_right"/>
<origin rpy="-1.570796327 0 0" xyz="0.17 -0.225 0"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_back_left" type="continuous">
<parent link="base_link"/>
<child link="wheel_back_left"/>
<origin rpy="-1.570796327 0 0" xyz="-0.17 0.225 0"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_back_right" type="continuous">
<parent link="base_link"/>
<child link="wheel_back_right"/>
<origin rpy="-1.570796327 0 0" xyz="-0.17 -0.225 0"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_laser" type="fixed">
<parent link="base_link"/>
<child link="laser"/>
<origin rpy="0 0 0" xyz="0.32 0 0.04"/>
</joint>
</robot>
Please edit your question and use the
1010button to put code samplesHave you get an error while displaying the model ? How do you display it ? I tried your urdf and I don't encounter any problem I have all the elements
use the 1010 button to put code samples what's means !! the error display in rviz : no transform from wheel to map someone comment that : The problem is that you haven't added the inertia to the links.
Copy and past your code in your question (with all the tab and return to the line), select it and click on the
1010icon above (or press CTRL-K). It's too messy to read it. I don't have any issue visualizing your urdf in rviz, what did you set in the Fixed Frame ? (it should be base_link)in fixed frame when i wanna create a map i use /odom and /map in locallization and navigation
You have to be more precise in your question, do you have an issue displaying the urdf alone or when you're trying to navigate the robot ? Which commands are you executing and what do you expect ?
yeah it's not display when i try mapping or to navigate
I can't help you only with an urdf, what topics are you launching, what nodes are you executing ? ... If you have the issue "No transform from [topic] to [topic]" then the issue comes from the TF.