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Failed to rosrun static tf publisher

asked 2013-09-24 17:28:09 -0500

FuerteNewbie gravatar image

updated 2013-11-18 19:19:32 -0500

tfoote gravatar image

Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period(milliseconds) 
This transform is the transform of the coordinate frame from frame_id into the coordinate frame 
of the child_frame_id.  
[ERROR] [1380079370.694111859]: static_transform_publisher exited due to not having the right number of arguments

Here's the problem when I tried to confirm whether my static_transform_publisher is running.

I have tried out to 'roslaunch kinect_frames.launch' with 'rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 1 base_link base_scan 100' running on another terminal (just simply fill in some argument). Here's the output.

... logging to /home/user/.ros/log/590fda42-2a34-11e3-8212-0022fb8421da/roslaunch-ubuntu-3072.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 <a href="http://ubuntu:32821/">http://ubuntu:32821/</a>

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]
ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]
ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]
ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete
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2

Just FYI, if the args have 6 numbers then 2 strings then 1 more number the first 6 are interpreted as x,y,z,y,p,r i.e. orientation parameterized by yaw, pitch, roll. If you use 7 numbers the orientation is parameterized with a quaternion i.e. args are x,y,z,qx,qy,qz,qw.

jarvisschultz gravatar imagejarvisschultz ( 2013-09-25 07:34:41 -0500 )edit

Thanks for the correction jarviscchultz. FuerteNewbie, we would still need to see the command line you gave to get this output.

DamienJadeDuff gravatar imageDamienJadeDuff ( 2013-09-26 18:54:46 -0500 )edit

rosrun tf static_transform_publisher

FuerteNewbie gravatar imageFuerteNewbie ( 2013-09-26 22:14:34 -0500 )edit
1

Well if that is the exact command you used to generate the posted error, then I believe the error is very clear. As myself and @DamienJadeDuff pointed out, the static_transform_publisher requires 10 (or 9) arguments, and it appears as if you didn't provide them. Does this resolve your problem?

jarvisschultz gravatar imagejarvisschultz ( 2013-09-27 02:38:09 -0500 )edit
1

It don't really solve but at least I get to understand something. Anyway does static_transform_publisher work on simulator? I guess the simulator itself define the robot x y z yaw pitch roll already.

FuerteNewbie gravatar imageFuerteNewbie ( 2013-09-29 15:50:25 -0500 )edit

I don't understand your question about the it working on simulator? The `static_transform_publisher` does one simple task; at some desired frequency, it broadcasts a constant transform between two constant frames. An example of this can be seen in kinect_frames.launch file in openni_launch

jarvisschultz gravatar imagejarvisschultz ( 2013-09-30 06:12:49 -0500 )edit

@jarvisschultz I have update my output from roslaunch kinect_frames.launch, it doesn't seems working right.

FuerteNewbie gravatar imageFuerteNewbie ( 2013-10-01 15:53:11 -0500 )edit

@jarvisschultz I have update my output from roslaunch kinect_frames.launch, it doesn't seems working right.

FuerteNewbie gravatar imageFuerteNewbie ( 2013-10-01 15:53:12 -0500 )edit

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answered 2013-09-24 21:29:18 -0500

DamienJadeDuff gravatar image

updated 2014-03-04 00:47:09 -0500

Can you please provide the command that you used to get this output? Did you give ALL the values required on the command line?

There should be 7 numbers then 2 strings then 1 more number. e.g.

rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 1.0 base_link map 1000

OR 6 numbers then 2 strings then 1 more number. e.g.

rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 base_link map 1000

(incorporating the suggestion from jarvisschultz).

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I just simply rosrun tf static_transform_publisher

FuerteNewbie gravatar imageFuerteNewbie ( 2013-09-29 15:52:52 -0500 )edit

rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 1.0 base_link map 1000 The tutorial doesn't list the tf part in the command line code, thank you for this!

Athoesen gravatar imageAthoesen ( 2014-02-21 05:03:05 -0500 )edit

What are base_link and map? Which one is the parent? Could you edit the code in a way that we also see the hierarchy?

Jägermeister gravatar imageJägermeister ( 2019-07-15 03:42:07 -0500 )edit

@Jägermeisterhttps://wiki.ros.org/tf#static_transf... base_link and map are common TF frames.

DamienJadeDuff gravatar imageDamienJadeDuff ( 2019-08-24 10:34:08 -0500 )edit

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Asked: 2013-09-24 17:28:09 -0500

Seen: 9,556 times

Last updated: Mar 04 '14