URDF joint type "continuous" causes rviz2 issues?

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Hi all,

I'm new to ROS2 and working through the tutorials. Please excuse me if this is a dumb question.

Background: I'm running ROS2 Foxy, my robot is running on a Pi4 running Ubuntu 20.04 and Rviz2 is running on a desktop running Ubuntu 20.04. On both device I installed Foxy from the ros repo and both are up to date.

I'm following this tutorial: https://navigation.ros.org/setup_guid...

I'm using the example URDF at: https://github.com/ros-planning/navig... And the rviz2 file provided in the tutorial.

Issue: The issue I'm having is that the wheels are in the center of the body, at 0,0,0 and on the rviz2 console I get these messages:

at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp

Warning: Invalid frame ID "drivewhl_r_link" passed to canTransform argument source_frame - frame does not exist

at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp

Warning: Invalid frame ID "drivewhl_l_link" passed to canTransform argument source_frame - frame does not exist

This seems to be related to this line:

<joint name="${prefix}_joint" type="continuous">

If I change the link type to "fixed" then the wheels locate correctly and there are no errors on the console.

Is this a known issue with rviz2? Or did I do something wrong?

Thank you, Errol