RVIZ Error: Global Status Warn and No Tf data

asked 2019-07-11 12:07:59 -0500

mkb_10062949 gravatar image

updated 2019-07-12 08:30:03 -0500

I am using ROS melodic with Ubuntu 18.04 on VM and also ROS Kinetic on Ubuntu 16.04. I had been following a video tutorial on youtube [https://www.youtube.com/watch?v=J6Mu1...] which introduces to ROS-Industrial 101 and works with Motoman sia10f and UR5 robot.

I have copied the necessary files from GitHub as there was no option of cloning to the specific packages under catkin/src as mentioned in the video.

After launching the launch file RVIZ gets opened and as per the video I should get a list of all my links in the fixed frame drop down list but i dont get any list and moreover my Global Status shows warning and also it dispalys that there is no tf data

I have .stl files in my mesh could that be a problem. I dont know where i could possibly be making mistake because I have crossed checked the codes many times and it seems to be correct.

This is the image I should be getting in my RVIZ

this is my launch file (myrobot.launch),

<launch>
    <arg name="gui" default="true"/> 
    <param name = "robot_description" command="$(find xacro)/xacro --inorder '$(find my_robot_description)/urdf/my_robot.xacro'" />
    <node name="rviz" pkg ="rviz" type="rviz" if="$(arg gui)"/>

this is my xacro file (my_robot.xacro)

> <?xml version ="1.0"?>
<robot name = "my_robot" xmlns:xacro="https://ros.org/wiki/xacro">

    <xacro:include filename="$(find sia10f_description)/urdf/sia10f_macro.xacro"/>
    <xacro:motoman_sia10f prefix=""/>
<link name="world"/>
<link name="camera_frame"/>

<link name ="table">
    <visual>
        <geometry>
            <box size="1 1 0.05"/>
        </geometry>
    </visual>
    <collision>
        <geometry>
            <box size="1 1 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="world_to_table" type="fixed">
    <parent link="world"/>
    <child link="table"/>
    <origin xyz="0 0 0.5" rpy="0 0 0"/>
</joint>

<joint name="world_to_camera" type="fixed">
    <parent link="world"/>
    <child link="camera_frame"/>
    <origin xyz="0 0 1.0" rpy="0 1.571 0"/>
</joint>

<joint name="table_to_robot" type="fixed">
    <parent link="table"/>
    <child link="base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

</robot>

and this my macro xacro file (sia10f_macro.xacro)

<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
    <xacro:macro name="motoman_sia10f" params="prefix">
        <!-- link list -->
        <link name="${prefix}base_link">
            <visual>
                <geometry>
                    <mesh filename="package://sia10f_description/meshes/sia10f/visual/motoman_base.stl" />
                </geometry>
                <material name="blue">
                    <color rgba="0 0 1 1"/>
                </material>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="package://sia10f_description/meshes/sia10f/collision/motoman_base.stl" />
                </geometry>
                <material name="yellow">
                    <color rgba="0 1 1 1"/>
                </material>
            </collision>
            <inertial>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <mass value="1" />
                <inertia
                    ixx="1.0" ixy="0.0" ixz="0.0"
                    iyy="1.0 ...
(more)
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Comments

I had been following a video tutorial on youtube [https://www.youtube.com/watch?v=J6Mu1...] which introduces to ROS-Industrial 101 and works with Motoman sia10f and UR5 robot.

Note: that video does not "introduce ROS-Industrial". It's a video tutorial by an external company that just happens to show you a model of an industrial robot.

I would also suggest to ask the Construct guys to support you, as they are the ones that produced that video.

gvdhoorn gravatar imagegvdhoorn ( 2019-07-11 12:20:06 -0500 )edit

Yes true, but they also provided the model of the robot which I copied from GitHub. Therefore, I think that should not be an issue

mkb_10062949 gravatar imagemkb_10062949 ( 2019-07-11 22:59:40 -0500 )edit

What should "not be an issue"?

gvdhoorn gravatar imagegvdhoorn ( 2019-07-12 02:51:22 -0500 )edit

The issue is the topic that RVIZ doesn't load tf data, the fixed frame drop down list is empty and there is a warning in the global status after launching the launch file (myrobot.launch) in the terminal

mkb_10062949 gravatar imagemkb_10062949 ( 2019-07-12 03:08:16 -0500 )edit