No transform from A to B (but only when using Gazebo)
Hello All,
I am new to ROS and have been searching the forums for an answer to a problem I am having. This is the problem:
Similar posts seem to indicate that one needs to add a joint_state_publisher, which, to my understanding, I have done as shown in launch file below.
However, when I remove the Gazebo parts from the launch file (see ADDING THIS CREATED THE NO TRANSFORM ERROR in launch file below) the error disappears as shown below:
My launch file is as follow:
<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
<arg name="paused" default="true" doc="Starts gazebo in paused mode" />
<arg name="gui" default="true" doc="Starts gazebo gui" />
<!-- ADDING THIS CREATED THE NO TRANSFORM ERROR -->
<!-- <arg name="world_name" default="$(find ps)/worlds/ps.world"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
</include> -->
<!-- send robot urdf to param server -->
<include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!-- UR5 and the Intel Realsense -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ps)/urdf/ur5realsense.xacro'" />
<!-- push camera to gazebo -->
<!-- <node name="spawn_camera" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" /> -->
<!-- Robot state publisher -->
<!-- <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" type="string" value="" />
</node> -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- Fake Calibration -->
<node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />
<!-- joint_state_controller -->
<rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load"/>
<node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
<!-- bring up joint controller gui -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="true"/>
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" />
</launch>
Here are the links in the xacro:
xacro ur5realsense.xacro > a.urdf check_urdf a.urdf robot name is: robot_description ---------- Successfully Parsed XML --------------- root Link: world has 1 child(ren) child(1): base_link child(1): base child(2): shoulder_link child(1): upper_arm_link child(1): forearm_link child(1): wrist_1_link child(1): wrist_2_link child(1): wrist_3_link child(1): ee_link child(2): tool0 child(1): camera_bottom_screw_frame child(1): camera_link child(1): camera_color_frame child(1): camera_color_optical_frame child(2): camera_depth_frame child(1): camera_depth_optical_frame child(3): camera_infra1_frame child(1): camera_infra1_optical_frame child(4): camera_infra2_frame child(1): camera_infra2_optical_frame
Can anyone point out what is going wrong when adding gazebo to the launch file?
Thank you,
Iyantiram