[melodic] Unable to visualize TB3 in RVIZ via gazebo turtlebot_world (SIMULATION!)

asked 2020-10-22 15:37:08 -0600

mth1996 gravatar image

updated 2020-10-26 05:28:15 -0600

Hello everybody,

I am quiet new to ROS doing my first steps. This is actually my first post.

I am struggling to visualize the Turtlebot Waffle Pi in RVIZ.

Which TurtleBot3 you have?

Waffle Pi [Simulation]

Which SBC(Single Board Computer) is working on TurtleBot3?

Raspberry Pi 3+

Which OS you installed in SBC?


Which OS you installed in Remote PC?

Ubuntu 18.04 LTS (Bionic Beaver) ROS Melodic

I tried running roslaunch turtlebot3_gazebo turtlebot3_world.launch.

After: roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch to visualize my TB in the world map.

After doing so, the following problems occured:

  • TB spawned white in the empty_world
  • Fixed Frame Error: Fixed Frame [odom] does not exist.
  • Robot Model Error: Every Transformation failed. URDF parsed OK.

Edit: When changing fixed frame to something else, the Robot Model Error is still there. But, almost every Transformation is good, except the wheel_left_link to ... and wheel_left_link to ... The TF Section in RVIZ is showing an Warning.

Also the roslaunch turtlebot3_teleop turltebot3_teleop_key.launch node doesnt have any impact on Rviz nor Gazebo.

What am I doing wrong. It took me about 20 hours, without progress.

Greetings and Thanks Marco

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