Rviz No transform from [onelink] to [another]

asked 2020-11-07 13:05:17 -0500

Sission
1 ●4 ●5 ●4

Hi, all! Rviz shows "No transform from [onelink] to [another]" I know there are many Q&A online. However, my case is slightly different. I believe my urdf code is fine and I do called "joint_state_publisher". Rviz can not load my model correctly.

However, interesting thing is, after I reboot my computer, it just magically works. Everything works fine after restarting. Somethings, it fails again after working hours. All I have to do is to reboot my system. It is easy but inconvenient, which I have to open all the files and windows again.

Does anyone have some suggestions on this?

answered 2020-11-07 13:25:56 -0500

chfritz

553 ●2 ●48 ●18 https://luminrobotics.com

updated 2020-11-07 13:26:07 -0500

When it fails you will need to take a look at your TF tree, either using rosrun tf view_frames, rqt's TF plugin, or just using ros-blessed to see the tree in the console. You need to see whether the connection between the two frames in question still exists and keeps being published (or is purely static). I assume a nodes that is responsible for publishing one of the edges along that path crashes for some reason. But the tree is pretty much ground truth for you at that point. It is what rviz uses to determine transforms.

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Thanks! I understand that. Tf tree shows no connection when it doesn't work. My point is, why I can fix it just by rebooting the system? Maybe it is the driver issue?

Sission ( 2020-11-07 13:28:40 -0500 )edit

I assume that the ros node that creates the missing connection is started in reboot but then crashes sometime later. So you need to find the node responsible for the connection that goes missing later, and then check the log of that node. There should be a crash message at the end of its log.

chfritz ( 2020-11-07 14:18:40 -0500 )edit

Do you how to do that specifically?

Sission ( 2020-11-10 11:45:11 -0500 )edit

first thing would be to get the tf tree together with the name of the publisher of each link. This is really easiest with my ros-blessed tool. Please add it to your question if possible. Then point out the edge in question that goes missing after a while. From that we'll know the name of the node that fails. Then you need to find the console where you started that node and see what the error message on termination was.

chfritz ( 2020-11-10 12:48:35 -0500 )edit

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