No tf data. Actual error: Fixed Frame [base_link] does not exist
Hi,
I try to make a URDF in ROS Melodic on Kubuntu 18.04. I made a small URDF with one link to test if it works, but I can't open it with RViz. I get a Global Status: Warning -> Fixed Frame -> No tf data. Actual error: Fixed Frame [base_link] does not exist
The onle link in my URDF is called "base_link" so I do not see where the problem is.
My URDF file looks like this:
<?xml version="1.0"?>
<robot name="tank_robot">
<link name="base_link">
<pose>0 0 0.1 0 0 0</pose>
<visual>
<geometry>
<cylinder length="0.1" radius="0.2"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
</robot>
The file is called "tank.urdf".
The launch file with which I open RViz and load the urdf looks like this:
<launch>
<arg
name="model" />
<arg
name="gui"
default="False" />
<param
name="robot_description"
textfile="$(find tank_robot)/urdf/tank.urdf" />
<param
name="use_gui"
value="$(arg gui)" />
<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 tank_robot)/rviz/urdf.rviz" />
</launch>
Can someone help me to understand what is going wrong?
I don't know about the rest, but
pose
is not a valid element in URDF. Are you mixing in SDF?Is
robot_state_publisher
not complaining?I saw the <pose> tag in an example URDF and I thought it was necessary. Without the <pose> tage, the result is still the same. And no, the robot_state_publisher is not complaining so far. How would I notice this?
See urdf/XML/link,
pose
is not a valid child oflink
. It's not in URDF at all actually. It is in SDF (here).then it's probably ignoring the unknown element.