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Problem with launch file in using urdf with robot_state_publisher tutorial

asked 2012-10-23 00:47:30 -0500

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I'm trying to run topic five of this tutorial but I've a problem with rviz can't work probably.

My roswtf result (with launch file name:state_publisher.launch):


Loaded plugin tf.tfwtf
================================================================================
Static checks summary:

Found 1 error(s).

ERROR The following packages have rpath issues in manifest.xml:
* r2d2: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"
* rosconsole: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"
* roscpp: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"
* std_msgs: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"
* sensor_msgs: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"
* tf: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"
* rostest: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"
* geometry_msgs: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"
* message_filters: found flag "-L/opt/ros/fuerte/lib", but no matching "-Wl,-rpath,/opt/ros/fuerte/lib"

================================================================================

ROS Master does not appear to be running.
Online graph checks will not be run.
ROS_MASTER_URI is [http://localhost:11311]

roslaunch state_publisher.launch result:

... logging to /home/kitsadapon/.ros/log/3c4387b8-1d12-11e2-82ee-00238b609800/roslaunch-kitsadapon-Joybook-S42-23393.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://kitsadapon-Joybook-S42:41110/

SUMMARY
========

PARAMETERS
 * /robot_description
 * /rosdistro
 * /rosversion

NODES
  /
    robot_state_publisher (robot_state_publisher/state_publisher)
    state_publisher (r2d2/state_publisher)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [23410]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3c4387b8-1d12-11e2-82ee-00238b609800
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [23423]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[robot_state_publisher-2]: started with pid [23435]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[state_publisher-3]: started with pid [23452]

Tutorial link: http://www.ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher


Problems with rviz:

  • Global Status Error: Fix Frame [/map] does not exist
  • Robot Model Status Error: No Transform
  • TF Status Warning: NoTransform

Thank you for all answers.

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Comments

1

What's the output of roslaunch state_publisher.launch? Does it throw any errors? Also, please format shell output and code (mark it and press Ctrl-k).

Lorenz gravatar image Lorenz  ( 2012-10-23 00:56:59 -0500 )edit
1

The output of roslaunch looks ok. What exactly is the error message you get? What's the problem with rviz? Also please provide a link to the tutorial.

Lorenz gravatar image Lorenz  ( 2012-10-23 03:44:51 -0500 )edit

1 Answer

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answered 2012-10-23 06:30:39 -0500

Lorenz gravatar image

From the tutorial:

Run rviz, choosing odom as your fixed frame. Add a Robot Model and TF.

According to the global status error in rviz, it seems like you didn't select odom as fixed frame in rviz.

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Thank you very much.

Soda gravatar image Soda  ( 2012-10-23 07:11:32 -0500 )edit

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Asked: 2012-10-23 00:47:30 -0500

Seen: 464 times

Last updated: Oct 23 '12