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Warning: Invalid frame ID question for rviz2 (ROS2) [closed]

asked 2021-08-18 13:18:06 -0500

kak13 gravatar image

updated 2021-08-18 13:19:07 -0500

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

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Closed for the following reason too subjective or argumentative by kak13
close date 2021-08-27 00:14:13.426609

1 Answer

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answered 2021-08-18 13:21:20 -0500

kak13 gravatar image

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 ...
(more)
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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

kak13 gravatar image kak13  ( 2021-08-27 00:13:38 -0500 )edit

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

OguzKahraman gravatar image OguzKahraman  ( 2022-06-27 10:37:35 -0500 )edit

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

kak13 gravatar image kak13  ( 2022-06-27 13:46:04 -0500 )edit

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.

kak13 gravatar image kak13  ( 2022-06-27 13:48:14 -0500 )edit

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Asked: 2021-08-18 13:18:06 -0500

Seen: 830 times

Last updated: Aug 18 '21