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Warning: Invalid frame ID question for rviz2 (ROS2)

Question,

I seem I couldn't find any information, tutorial, or anything related to non-odom topic. odom is obviously different from wheel, a simple joint or anything that requires an integer value (or type of value)

So in my case, one joint called head which is (clipped head part only)

    <link name ="head">
        <visual>
            <geometry>
                <cylinder radius="0.01" length="0.02"/>
            </geometry>
        <material name="white"/>
        </visual>
        <collision>
            <geometry>
                <cylinder radius="0.01" length="0.02"/>
            </geometry>
    </collision>

    <xacro:cylinder_inertia m="1" r="0.01" h="0.02"/>

    </link>

The result is this

image description

So the question, for me or anyone else who approached to the same issue, is how do we correct it in a right way?

Let's say, if someone else made a joint called wheel, hand, or something simple (in my case, it's head)

What should we do to correct the issue? Do we need to update the launch? If so, which and what should we put?

Thank you for your time and efforts

Asked by kak13 on 2021-08-18 13:18:06 UTC

Comments

Answers

In case if you need a full code

<?xml version="1.0"?>
<robot name="my_robot" xmlns:xacro="http://ros.org/wiki/xacro">

    <!--INCLUDE FILES-->
<!--    <xacro:include filename="$(find description)/my_robot.gazebo" />-->

  <!-- Define robot constants -->
  <xacro:property name="base_width" value="0.2159"/>
  <xacro:property name="base_length" value="0.1524"/>
  <xacro:property name="base_height" value="0.10795"/>

  <xacro:property name="wheel_radius" value="0.0325"/>
  <xacro:property name="wheel_width" value="0.02"/>
  <xacro:property name="wheel_ygap" value="0.088"/>
  <xacro:property name="wheel_zoff" value="0.05"/>
  <xacro:property name="wheel_xoff" value="0.1"/>

  <xacro:property name="caster_xoff" value="0.14"/>

  <!-- Define some commonly used intertial properties  -->
  <xacro:macro name="box_inertia" params="m w h d">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
    </inertial>
  </xacro:macro>

  <xacro:macro name="cylinder_inertia" params="m r h">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy = "0" ixz = "0" iyy="${(m/12) * (3*r*r + h*h)}" iyz = "0" izz="${(m/2) * (r*r)}"/>
    </inertial>
  </xacro:macro>

 <!-- Robot Base -->
  <link name="base_link">
    <visual>
      <geometry>
    <box size="0.2159 0.1524 0.10795"/>
      </geometry>
      <material name="Cyan">
    <color rgba="0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <collision>
    <geometry>
        <box size="0.2159 0.1524 0.10795"/>
      </geometry>
    </collision>

    <xacro:box_inertia m="15" w="0.2159" d="0.1524" h="0.10795"/>
  </link>

  <!-- Robot Footprint -->
  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_footprint"/>
    <origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0"/>
  </joint>


    <!-- Servos -->
    <link name ="head">
        <visual>
            <geometry>
                <cylinder radius="0.01" length="0.02"/>
            </geometry>
        <material name="white"/>
        </visual>
        <collision>
            <geometry>
                <cylinder radius="0.01" length="0.02"/>
            </geometry>
    </collision>

    <xacro:cylinder_inertia m="1" r="0.01" h="0.02"/>

    </link>

    <link name ="head2">
    <visual>
        <geometry>
            <cylinder radius="0.01" length="0.02"/>
        </geometry>
        <material name="Gray">
            <color rgba="0.5 0.5 0.5 1.0"/>
        </material>
    </visual>
    <collision>
    <geometry>
        <cylinder radius="0.01" length="0.02"/>
    </geometry>
    </collision>
    <xacro:cylinder_inertia m="0" r="0.01" h="0.02"/>
    </link>

    <!-- Wheels -->
  <xacro:macro name="wheel" params="prefix x_reflect y_reflect">
    <link name="${prefix}_link">
      <visual>
    <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
    <geometry>
    <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
    </geometry>
    <material name="Gray">
      <color rgba="0.5 0.5 0.5 1.0"/>
    </material>
      </visual>
    <collision>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
        <geometry>
            <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
        </geometry>
    </collision>
    <xacro:cylinder_inertia m="0.5" r="0.01" h="0.02"/>
    </link>

      <joint name="${prefix}_joint" type="continuous">
      <parent link="base_link"/>
      <child link="${prefix}_link"/>
      <origin xyz="${x_reflect*wheel_xoff} ${y_reflect * (base_length/2 + wheel_width/2)} ${-wheel_zoff}" rpy="0 0 0"/>
      <axis xyz="0 1 0"/>
    </joint>
  </xacro:macro>

    <!-- Sensor -->
    <link name ="sensor">
    <visual>
        <geometry>
            <box size="0.02 0.04 0.01"/>
        </geometry>
        <material name="Royal Blue">
            <color rgba="83 51 237 1"/>
        </material>
    </visual>
    <collision>
        <geometry>
            <box size="0.02 0.04 0.01"/>
        </geometry>
        <material name="Royal Blue">
            <color rgba="83 51 237 1"/>
        </material>
    </collision>
    <xacro:box_inertia m="15" w="0.02" d="0.04" h="0.01"/>

    </link>

    <!--TEST    -->
<!--        <link name="lidar_link">-->
<!--          <inertial>-->
<!--            <origin xyz="0 0 0" rpy="0 0 0"/>-->
<!--            <mass value="0.125"/>-->
<!--            <inertia ixx="0.001"  ixy="0"  ixz="0" iyy="0.001" iyz="0" izz="0.001" />-->
<!--          </inertial>-->

<!--          <collision>-->
<!--            <origin xyz="0 0 0" rpy="0 0 0"/>-->
<!--            <geometry>-->
<!--               <cylinder radius="0.0508" length="0.055"/>-->
<!--            </geometry>-->
<!--          </collision>-->

<!--          <visual>-->
<!--            <origin xyz="0 0 0" rpy="0 0 0"/>-->
<!--            <geometry>-->
<!--               <cylinder radius="0.0508" length="0.055"/>-->
<!--            </geometry>-->
<!--          </visual>-->
<!--        </link>-->



    <gazebo reference="sensor">
      <sensor type="ray" name="TeraRanger">
          <pose>0 0 0 0 0 0</pose>
          <visualize>true</visualize>
          <update_rate>50</update_rate>
          <ray>
             <scan>
                <horizontal>
                   <samples>10</samples>
                   <resolution>1</resolution>
                   <min_angle>-0.14835</min_angle>
                   <max_angle>0.14835</max_angle>
                </horizontal>
                <vertical>
                   <samples>10</samples>
                   <resolution>1</resolution>
                   <min_angle>-0.14835</min_angle>
                   <max_angle>0.14835</max_angle>
                </vertical>
             </scan>
             <range>
                <min>0.01</min>
                <max>2</max>
                <resolution>0.02</resolution>
             </range>
          </ray>
          <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
             <gaussianNoise>0.005</gaussianNoise>
             <alwaysOn>true</alwaysOn>
             <updateRate>50</updateRate>
             <topicName>sensor/ir_front</topicName>
             <frameName>base_ir_front</frameName>
             <radiation>INFRARED</radiation>
             <fov>0.2967</fov>
          </plugin>
       </sensor>
       </gazebo>

    <joint name="head_attach" type="revolute">
    <origin xyz="0.090 0 0.064" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="head"/>
    <limit effort="10.0" lower="-1.51" upper="1.51" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
    <axis xyz="0 0 1"/>
    </joint>

    <joint name="head_attach2" type="revolute">
    <origin xyz="0 0 0.02" rpy="0 1.6 0"/>
    <parent link="head"/>
    <child link="head2"/>
    <limit effort="1000.0" lower="-1.51" upper="1.51" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
    <axis xyz="0 0 1"/>
    </joint>

<!--    <joint name="boards" type="fixed">-->
<!--        <origin xyz="0.02 0 -0.02"/>-->
<!--        <parent link="head2"/>-->
<!--        <child link="lidar_link"/>-->
<!--        <limit effort="1000.0" lower="-15" upper="15" velocity="30"/>-->
<!--        <dynamics damping="0.0" friction="0.0"/>-->
<!--    </joint>-->

     <joint name="ultrasonic" type="fixed">
    <axis xyz="0 1 0" />
    <origin rpy="0 0 0" xyz="0.02 0 0" />
    <parent link="head2"/>
    <child link="sensor"/>
     </joint>






<!--  <xacro:wheel prefix="drivewhl_rl" x_reflect="-1" y_reflect="1" />-->
<!--  <xacro:wheel prefix="drivewhl_rr" x_reflect="-1" y_reflect="-1" />-->
<!--  <xacro:wheel prefix="drivewhl_fl" x_reflect="1" y_reflect="1" />-->
<!--  <xacro:wheel prefix="drivewhl_fr" x_reflect="1" y_reflect="-1" />-->


</robot>

Asked by kak13 on 2021-08-18 13:21:20 UTC

Comments

Closing this due to the robot needs robot_description topic. Feel free to comment if you need more information even if you are in 2024 now

Asked by kak13 on 2021-08-27 00:13:38 UTC

Hey! Did you solve this problem? I am having the same warning.

Asked by OguzKahraman on 2022-06-27 10:37:35 UTC

Hey, nah. I end up using ignition gazebo. At that time, I didn't know that it was classic gazebo. I was looking for the newest Gazebo to start. I'm currently using Citadel/Fortress version through ros2 bridge.

I feel it's much easier than classic gazebo and less hassle

Asked by kak13 on 2022-06-27 13:46:04 UTC

Sorry, I just re-read my post. I thought this was about gazebo using URDF. You need to put a right topic for rviz to follow. If you didn't put your topic in the rviz, it will go crazy. So, let's say..the sensor of odom in your URDF should be the one in rviz2.

Asked by kak13 on 2022-06-27 13:48:14 UTC