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UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.
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Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty #86

Closed AshwinR96 closed 5 years ago

AshwinR96 commented 5 years ago

I am trying to run jog_arm to control my UR3 simulation on Gazebo. But I am getting this error:

/jog_arm_server: Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty

What do I need to do fix this?

My jog_settings.yaml has this: `gazebo: true

collision_check: true

command_in_type: "unitless" scale:

linear: 0.003

rotational: 0.006

joint: 0.01

cartesian_command_in_topic: jog_arm_server/delta_jog_cmds

joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds

command_frame: base_link

incoming_command_timeout: 5

joint_topic: joint_states

move_group_name: manipulator

lower_singularity_threshold: 30

hard_stop_singularity_threshold: 45

lower_collision_proximity_threshold: 0.1

hard_stop_collision_proximity_threshold: 0.005

planning_frame: base_link

low_pass_filter_coeff: 2.

publish_period: 0.008

publish_delay: 0.005

collision_check_rate: 5

warning_topic: jog_arm_server/warning

joint_limit_margin: 0.1

command_out_topic: arm_controller/command

command_out_type: trajectory_msgs/JointTrajectory

publish_joint_positions: true

publish_joint_velocities: true

publish_joint_accelerations: false`

AndyZe commented 5 years ago

You just need to make sure the incoming message has a header.stamp.frame_id. I'll push a fix later today

AshwinR96 commented 5 years ago

Okay, thank you

AndyZe commented 5 years ago

Commit 13ad62a should take care of this. The command_frame from your yaml file is automatically put on all incoming msgs. Let me know if it still isn't working for you.