rviz Status Error: No Transform
For some reason, rviz isn't recognizing any transforms from the turtlebot3_model. For every component of the robot, listed under "Robot Model," I'm getting rviz errors such as:
No transform from [base_link] to [odom]
No transform from [base_scan] to [odom]
No transform from [wheel_left_link] to [odom]
I first run rviz using the command: rosrun rviz rviz
I add in the Robot Model to the display, and that is where all the aforementioned errors occur.
In rviz, the two options for "Fixed Frame" is "odom" and "base_footprint." I've tried both, but I just get errors saying there is no transform to [odom] or no transform to [base_footprint]. I'm guessing my issue has something to do with the Fixed Frame. For example, I would expect to have many more "Fixed Frame" options to select from, such as "wheel_left_link" "base_link" and "camera_depth_frame" to name a few. When I add in a robot model, shouldn't that give me more frames to choose from?
Or maybe the issue is that rviz isn't getting any transforms. Shouldn't the transforms automatically be accompanied with the robot model? Is there some issue with the model missing transforms? If so, I didn't make the model myself, it is just the generic turtlebot3 used for tutorials.
I know there are the two transform topics, "/tf" and "tf_static." Do I need to set something in rviz to subscribe to these?
Linux 5.3.0-62-generic #56 18.04.1-Ubuntu
Did you check your tf tree? Try running
rosrun tf view_framesand open theframes.pdffile generated. What do you see?frames.pdfshows only two frames. On top isodom(parent) and it points tobase_footprint(child). It also saysBroadcaster: /gazebo. My guess is that my robot model isn't broadcasting its transforms on the/tftopic. Shouldn't it broadcast a transform for every linkage/component (ex: wheel_left_link, base_link, camera_depth_frame) on the robot?Now that I've gone through the tf tutorials suggested by Miura, I have a vague idea of what tf broadcasting code to look for in the robot model code. However, I didn't make the model. Maybe it would be better to try a different turtlebot model?
I'm using the turtlebot3 model, which I think is the most current model. I start it up by first using this command:
export TURTLEBOT3_MODEL=burgerand then then this command:roslaunch turtlebot3_gazebo turtlebot3_world.launchodom, the robot model has errors (each linkage is red and says "No transform from [linkage] to [odom]), my tf tree is empty, androstopic echo /tfshows no transforms are being published./tftopic? I haven't found any settings I need to change.Can you try to download and build the turtlebot3 package from source and then try once again?
Meanwhile, you can try launching the turtlebot3 using the
roslaunch turtlebot3_bringup turtlebot3_model.launch.