# Revision history [back]

### How to put urdf model with fixed joints into RVIZ

Hello,

I would like to have more UDRF models (next to robot's one) displayed in RVIZ (for example ipa-kitchen,cup, table...). How to do it correctly?

This is my current solution, but there are some errors in RVIZ as you can see...

This is my launch file: http://pastebin.com/igmvk7cq

Model looks good in RVIZ, but there are errors in robot model.

As you can see, there are /world_tf/xx transforms and also xx ones.

There is screenshot of rxgraph:

Output of roswtf:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
* /gazebo:
* /gazebo/set_model_state

WARNING These nodes have died:
* world/spawn_urdf_world-2

Found 7 error(s).

ERROR Communication with [/rviz] raised an error:
ERROR Communication with [/rosout] raised an error:
ERROR Communication with [/rxconsole_1319534397534378303] raised an error:
ERROR Communication with [/world/joint_state_publisher] raised an error:
ERROR Communication with [/gazebo] raised an error:
ERROR Communication with [/world/robot_state_publisher] raised an error:
ERROR The following nodes should be connected but aren't:
* /world/joint_state_publisher->/world/robot_state_publisher (/world/joint_states)
* /gazebo->/rviz (/tf)
* /gazebo->/world/robot_state_publisher (/clock)
* /gazebo->/world/joint_state_publisher (/clock)
* /rosout->/rxconsole_1319534397534378303 (/rosout_agg)
* /gazebo->/rviz (/clock)
* /gazebo->/gazebo (/clock)
* /world/robot_state_publisher->/rviz (/tf)


Am I completely wrong with using join_state_publisher and robot_state_publisher or is there just some small mistake? Thanks a lot for any useful advice. Cheers :-)

### How to put urdf more than one URDF model with fixed joints into RVIZ

Hello,

I would like to have more UDRF URDF models (next to robot's one) displayed in RVIZ (for example ipa-kitchen,cup, table...). How to do it correctly? Models have often same named links (dummy_link)...

This is my current solution, but there are some errors in RVIZ as you can see...

This is my launch file: http://pastebin.com/igmvk7cq

Model looks good in RVIZ, but there are errors in robot model.

As you can see, there are /world_tf/xx transforms and also xx ones.ones. Why?

There is screenshot of rxgraph:

Output of roswtf:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
* /gazebo:
* /gazebo/set_model_state

WARNING These nodes have died:
* world/spawn_urdf_world-2

Found 7 error(s).

ERROR Communication with [/rviz] raised an error:
ERROR Communication with [/rosout] raised an error:
ERROR Communication with [/rxconsole_1319534397534378303] raised an error:
ERROR Communication with [/world/joint_state_publisher] raised an error:
ERROR Communication with [/gazebo] raised an error:
ERROR Communication with [/world/robot_state_publisher] raised an error:
ERROR The following nodes should be connected but aren't:
* /world/joint_state_publisher->/world/robot_state_publisher (/world/joint_states)
* /gazebo->/rviz (/tf)
* /gazebo->/world/robot_state_publisher (/clock)
* /gazebo->/world/joint_state_publisher (/clock)
* /rosout->/rxconsole_1319534397534378303 (/rosout_agg)
* /gazebo->/rviz (/clock)
* /gazebo->/gazebo (/clock)
* /world/robot_state_publisher->/rviz (/tf)


Am I completely wrong with using join_state_publisher and robot_state_publisher (for fixed joints) or is there just some small mistake? Thanks a lot for any useful advice. Cheers :-)