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[rviz2-3] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame #107
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Can you try or #76? This error always comes, but it is not persistent. The rviz robot visualization causes it |
TL;DR: Make sure the joint state broadcaster is loaded and running! The error message is maybe not as clear as it could be, but its cause is relatively simple and straightforward. TF is being published by the robot state publisher - which takes in joint states, performs FK and publishes the kinematic chain in task space. Now, the reason the frame doesn't exist is because nobody publishes the joint states. |
Today, pulling 76 breaks the launch: Was there supposed to be another PR to try before letters or 76 ? |
Dear @newcanopies #76 has been merged to master. Therefore You should use I believe, as others, that this reorganization is more aligned with the usual organization in the ros community (thanks to @destogl and all the people working on this PR) |
Dear @olivier-stasse I pulled the merged Master branch, symlink rebuilt, sourced install, and ran the command w/ following error: Rviz loads just a blank white window with logo
My use case requires both Rviz and Gazebo, so I also tested:
am I missing a step? |
Sorry maybe I missed it, but I do not see an error rather warnings. Could you highlight the error you are talking about ? For the second part of your discussion, could you elaborate on which version gazebo_ros2_control and gazebo_ros_pkgs you are working ? I tested everything with commit 1b90ab1c4f2830 for gazebo_ros2_control and gazebo_ros_pkgs version 3.5.3 (commit 3f18465d3f) |
Dear @newcanopies I forgot to mention but indeed they are some problems with gazebo right now on master. |
Dear @newcanopies the new changes should have fixed your issue of having rviz being blank. This will not fix the warnings. The gazebo simulation have also been fixed. |
Thank you kindly @olivier-stasse, the error seems to have changed:
Above However, Gazebo launch fails with controller_manager:
now the joint_state_broadcaster in controller_manager
control workspace is upto date with Master, rosdeps, rebuilt and sourced. |
The demo rrbot joint_state_broadcaster is loaded here by the Gazebo launch file: ros2_control_demos/ros2_control_demo_bringup/launch/rrbot_system_position_only_gazebo.launch.py Lines 62 to 67 in bf32f38
|
ros2_control in Foxy had ABI breaking changes. We ran into the same problem the other day. In order to fix your problem you have essentially two options:
|
obosolete... |
I use the "sudo apt intstall ros-foxy-control " and "sudo apt install ros-foxy-controllers" |
$
ros2 launch ros2_control_demo_robot rrbot_system_position_only.launch.py
the error is persistent with any robot/package launching Rviz2 configs, including this demo.
tf2 is installed as debian
$
ros2 pkg prefix tf2
/opt/ros/foxy
Thank you!
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