search

danzimmerman / Universal_Robots_ROS2_Gazebo_Simulation

BSD 3-Clause "New" or "Revised" License
2 stars 1 forks source link

RViz Model seems to be not working #2

Closed Icon45 closed 1 year ago

Icon45 commented 1 year ago

Hi @danzimmerman,

i've tried to get this Repo to work with your version of the description repo. After launching Rviz i got some sort of error and a weird looking robot. Don't know if this might be a bug in this repo or an issue in my project setup.

grafik

danzimmerman commented 1 year ago

What's happening here when the RViz robot is white and collapsed is usually that /tf transforms aren't being published. I often see this when some node has crashed or hasn't started properly.

If you run 

ros2 run rqt_graph rqt_graph

and/or

ros2 node list

is the /robot_state_publisher node up and running?

Are there any errors or warnings in the terminal window where you launched ur_sim_control.launch.py?

In the terminal, I get this:

``` dan@computer:~/ros/gz_ws$ ros2 launch ur_simulation_gazebo ur_sim_control.launch.py ur_type:=ur5e [INFO] [launch]: All log files can be found below /home/dan/.ros/log/2023-05-15-07-15-40-729384-karman-4210 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [4221] [INFO] [spawner-2]: process started with pid [4223] [INFO] [spawner-3]: process started with pid [4225] [INFO] [gzserver-4]: process started with pid [4227] [INFO] [gzclient-5]: process started with pid [4229] [INFO] [spawn_entity.py-6]: process started with pid [4231] [robot_state_publisher-1] [INFO] [1684149341.573318335] [robot_state_publisher]: got segment base [robot_state_publisher-1] [INFO] [1684149341.573425716] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1684149341.573438640] [robot_state_publisher]: got segment base_link_inertia [robot_state_publisher-1] [INFO] [1684149341.573444539] [robot_state_publisher]: got segment flange [robot_state_publisher-1] [INFO] [1684149341.573449127] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-1] [INFO] [1684149341.573453589] [robot_state_publisher]: got segment ft_frame [robot_state_publisher-1] [INFO] [1684149341.573457879] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-1] [INFO] [1684149341.573462036] [robot_state_publisher]: got segment tool0 [robot_state_publisher-1] [INFO] [1684149341.573466408] [robot_state_publisher]: got segment upper_arm_link [robot_state_publisher-1] [INFO] [1684149341.573470953] [robot_state_publisher]: got segment world [robot_state_publisher-1] [INFO] [1684149341.573475483] [robot_state_publisher]: got segment wrist_1_link [robot_state_publisher-1] [INFO] [1684149341.573480194] [robot_state_publisher]: got segment wrist_2_link [robot_state_publisher-1] [INFO] [1684149341.573484305] [robot_state_publisher]: got segment wrist_3_link [spawn_entity.py-6] [INFO] [1684149341.902064076] [spawn_ur]: Spawn Entity started [spawn_entity.py-6] [INFO] [1684149341.902293387] [spawn_ur]: Loading entity published on topic robot_description [spawn_entity.py-6] /opt/ros/rolling/lib/python3.10/site-packages/rclpy/qos.py:313: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-6] warnings.warn( [spawn_entity.py-6] [INFO] [1684149341.905505176] [spawn_ur]: Waiting for entity xml on robot_description [spawn_entity.py-6] [INFO] [1684149341.916670693] [spawn_ur]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-6] [INFO] [1684149341.916872491] [spawn_ur]: Waiting for service /spawn_entity [spawn_entity.py-6] [INFO] [1684149343.182271984] [spawn_ur]: Calling service /spawn_entity [spawn_entity.py-6] [INFO] [1684149343.312192497] [spawn_ur]: Spawn status: SpawnEntity: Successfully spawned entity [ur] [gzserver-4] [INFO] [1684149343.342518032] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-4] [INFO] [1684149343.344547795] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-4] [INFO] [1684149343.344740052] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-4] [INFO] [1684149343.344775903] [gazebo_ros2_control]: Loading parameter files /home/dan/ros/gz_ws/install/share/ur_simulation_gazebo/config/ur_controllers.yaml [gzserver-4] [INFO] [1684149343.346969134] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-4] [INFO] [1684149343.347304413] [gazebo_ros2_control]: Recieved urdf from param server, parsing... [gzserver-4] [WARN] [1684149343.355726690] [gazebo_ros2_control]: The position_proportional_gain parameter was not defined, defaulting to: 0.1 [gzserver-4] [INFO] [1684149343.355755139] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint [gzserver-4] [INFO] [1684149343.355762896] [gazebo_ros2_control]: State: [gzserver-4] [INFO] [1684149343.355767833] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.355772973] [gazebo_ros2_control]: found initial value: 0.000000 [gzserver-4] [INFO] [1684149343.355778577] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.355783038] [gazebo_ros2_control]: effort [gzserver-4] [INFO] [1684149343.355787351] [gazebo_ros2_control]: Command: [gzserver-4] [INFO] [1684149343.355791210] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356113609] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356123755] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint [gzserver-4] [INFO] [1684149343.356129010] [gazebo_ros2_control]: State: [gzserver-4] [INFO] [1684149343.356132810] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356136819] [gazebo_ros2_control]: found initial value: -1.570000 [gzserver-4] [INFO] [1684149343.356141682] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356145697] [gazebo_ros2_control]: effort [gzserver-4] [INFO] [1684149343.356149505] [gazebo_ros2_control]: Command: [gzserver-4] [INFO] [1684149343.356153132] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356163480] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356169208] [gazebo_ros2_control]: Loading joint: elbow_joint [gzserver-4] [INFO] [1684149343.356173454] [gazebo_ros2_control]: State: [gzserver-4] [INFO] [1684149343.356177602] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356181220] [gazebo_ros2_control]: found initial value: 0.000000 [gzserver-4] [INFO] [1684149343.356185999] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356189677] [gazebo_ros2_control]: effort [gzserver-4] [INFO] [1684149343.356194065] [gazebo_ros2_control]: Command: [gzserver-4] [INFO] [1684149343.356197861] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356206413] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356211864] [gazebo_ros2_control]: Loading joint: wrist_1_joint [gzserver-4] [INFO] [1684149343.356216101] [gazebo_ros2_control]: State: [gzserver-4] [INFO] [1684149343.356219950] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356223425] [gazebo_ros2_control]: found initial value: -1.570000 [gzserver-4] [INFO] [1684149343.356227881] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356231718] [gazebo_ros2_control]: effort [gzserver-4] [INFO] [1684149343.356235386] [gazebo_ros2_control]: Command: [gzserver-4] [INFO] [1684149343.356238941] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356246406] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356251764] [gazebo_ros2_control]: Loading joint: wrist_2_joint [gzserver-4] [INFO] [1684149343.356256013] [gazebo_ros2_control]: State: [gzserver-4] [INFO] [1684149343.356259718] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356263265] [gazebo_ros2_control]: found initial value: 0.000000 [gzserver-4] [INFO] [1684149343.356267500] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356271399] [gazebo_ros2_control]: effort [gzserver-4] [INFO] [1684149343.356275029] [gazebo_ros2_control]: Command: [gzserver-4] [INFO] [1684149343.356278533] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356285986] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356291550] [gazebo_ros2_control]: Loading joint: wrist_3_joint [gzserver-4] [INFO] [1684149343.356295748] [gazebo_ros2_control]: State: [gzserver-4] [INFO] [1684149343.356299486] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356316513] [gazebo_ros2_control]: found initial value: 0.000000 [gzserver-4] [INFO] [1684149343.356323093] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356327530] [gazebo_ros2_control]: effort [gzserver-4] [INFO] [1684149343.356331382] [gazebo_ros2_control]: Command: [gzserver-4] [INFO] [1684149343.356335131] [gazebo_ros2_control]: position [gzserver-4] [INFO] [1684149343.356341926] [gazebo_ros2_control]: velocity [gzserver-4] [INFO] [1684149343.356374492] [resource_manager]: Initialize hardware 'ur' [gzserver-4] [INFO] [1684149343.356457542] [resource_manager]: Successful initialization of hardware 'ur' [gzserver-4] [INFO] [1684149343.356531042] [resource_manager]: 'configure' hardware 'ur' [gzserver-4] [INFO] [1684149343.356536209] [resource_manager]: Successful 'configure' of hardware 'ur' [gzserver-4] [INFO] [1684149343.356541471] [resource_manager]: 'activate' hardware 'ur' [gzserver-4] [INFO] [1684149343.356544048] [resource_manager]: Successful 'activate' of hardware 'ur' [gzserver-4] [INFO] [1684149343.356589616] [gazebo_ros2_control]: Loading controller_manager [gzserver-4] [WARN] [1684149343.373099895] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-4] [INFO] [1684149343.373207061] [gazebo_ros2_control]: Loaded gazebo_ros2_control. [gzserver-4] [INFO] [1684149343.389355496] [controller_manager]: Loading controller 'joint_trajectory_controller' [gzserver-4] [INFO] [1684149343.408013319] [controller_manager]: Setting use_sim_time=True for joint_trajectory_controller to match controller manager (see ros2_control#325 for details) [spawner-3] [INFO] [1684149343.413689979] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller [gzserver-4] [INFO] [1684149343.414456641] [controller_manager]: Loading controller 'joint_state_broadcaster' [gzserver-4] [INFO] [1684149343.420823802] [controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details) [gzserver-4] [INFO] [1684149343.423225028] [controller_manager]: Configuring controller 'joint_trajectory_controller' [gzserver-4] [INFO] [1684149343.423511465] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [gzserver-4] [INFO] [1684149343.423540693] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [gzserver-4] [INFO] [1684149343.423563037] [joint_trajectory_controller]: Using 'splines' interpolation method. [spawner-2] [INFO] [1684149343.423873606] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [INFO] [spawn_entity.py-6]: process has finished cleanly [pid 4231] [gzserver-4] [INFO] [1684149343.438552170] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [gzserver-4] [INFO] [1684149343.443483650] [controller_manager]: Configuring controller 'joint_state_broadcaster' [gzserver-4] [INFO] [1684149343.443543050] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-3] [INFO] [1684149343.463292793] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller [spawner-2] [INFO] [1684149343.483098724] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [INFO] [spawner-3]: process has finished cleanly [pid 4225] [INFO] [spawner-2]: process has finished cleanly [pid 4223] [INFO] [rviz2-7]: process started with pid [4432] [rviz2-7] [INFO] [1684149344.448644853] [rviz2]: Stereo is NOT SUPPORTED [rviz2-7] [INFO] [1684149344.448769589] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-7] [INFO] [1684149344.553072958] [rviz2]: Stereo is NOT SUPPORTED ```

and is currently working on an up-to-date installation of ROS 2 rolling.

image

ros2 node list gives:

dan@computer:~/ros/gz_ws$ ros2 node list
/controller_manager
/gazebo
/gazebo_ros2_control
/joint_state_broadcaster
/joint_trajectory_controller
/robot_state_publisher
/rviz2
/transform_listener_impl_558a77d220f0

And my ROS graph:

image

I can't try out my humble installation right now but I'll try when I get a chance.

Let me know what's going on on your machine.

Icon45 commented 1 year ago

I'm getting the following warning in my terminal after launching ur_sim_control.launch.py

[rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-7]          at line 93 in ./src/buffer_core.cpp
[rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-7]          at line 93 in ./src/buffer_core.cpp
[rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-7]          at line 93 in ./src/buffer_core.cpp
[rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-7]          at line 93 in ./src/buffer_core.cpp
[rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-7]          at line 93 in ./src/buffer_core.cpp

When I run rqt_graph it just shows the /robot_state_publisher and nothing else.

I'm currently using a brand new installation of humble and the official ros2-driver for the UR-Bots

When running ros2 node list I only get these nodes listed:

/gazebo /robot_state_publisher /rviz2 /transform_listener_impl_55fc3b443790

In gazebo my robot is orientated horizontally. It is stretched out along the forward axis (so not collapsed or bend at any joints).

Icon45 commented 1 year ago

Update: I tried again to get it up and running. I didn't do anything different to last time but got slightly different results. Gazebo and RViz still look the same. The warning in my console is also still there. But when i run rqt_graph i see the following

grafik

If I run ros2 node list I get the old output.

This doesn't fix the issue but at least rqt_graph is showing what ros2 node list prints out. Really don't know why the other nodes aren't starting as they should

danzimmerman commented 1 year ago

Can you post the entire text of your console output after you launch?

Did you use rosdep to install all dependencies for your workspace?

The robot controller nodes aren't launching for you. I wonder if you're missing a package. If I recall correctly, the error messages that occur when the gazebo_ros2_control plugin is not installed are not that informative, but cause /controller_manager to fail to start, and then other controllers can't be spawned.

Icon45 commented 1 year ago

I didn't use rosdep to install any dependecies. I just setup a fresh bootable usb and installed ros2-humble, the Universal Robot Ros2 Driver, colcon, etc. I created a workspace with a src directory and cloned your repos in there, ran colcon build and tried to launch the gazebo sim with the launch file, but got the described issue.

Don't know why gazebo_ros2_control fails to install.

So here is what my console output is. This is only from a few seconds of running. It was stopped right after RViz opened. Gazebo already opened before that.

Note: 'Schreibtisch' is german for desktop but this shouldn't be an issue.

Console Output ``` ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch ur_simulation_gazebo ur_sim_control.launch.py ur_type:=ur10 [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-05-18-17-21-29-311867-ubuntu-8424 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [8426] [INFO] [spawner-2]: process started with pid [8428] [INFO] [spawner-3]: process started with pid [8430] [INFO] [gzserver-4]: process started with pid [8432] [INFO] [gzclient-5]: process started with pid [8434] [INFO] [spawn_entity.py-6]: process started with pid [8436] [robot_state_publisher-1] [INFO] [1684423291.972290660] [robot_state_publisher]: got segment base [robot_state_publisher-1] [INFO] [1684423291.972609059] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1684423291.972648568] [robot_state_publisher]: got segment base_link_inertia [robot_state_publisher-1] [INFO] [1684423291.972679395] [robot_state_publisher]: got segment flange [robot_state_publisher-1] [INFO] [1684423291.972703872] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-1] [INFO] [1684423291.972720281] [robot_state_publisher]: got segment ft_frame [robot_state_publisher-1] [INFO] [1684423291.972740165] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-1] [INFO] [1684423291.972765069] [robot_state_publisher]: got segment tool0 [robot_state_publisher-1] [INFO] [1684423291.972793025] [robot_state_publisher]: got segment upper_arm_link [robot_state_publisher-1] [INFO] [1684423291.972816895] [robot_state_publisher]: got segment world [robot_state_publisher-1] [INFO] [1684423291.972839690] [robot_state_publisher]: got segment wrist_1_link [robot_state_publisher-1] [INFO] [1684423291.972862708] [robot_state_publisher]: got segment wrist_2_link [robot_state_publisher-1] [INFO] [1684423291.972885439] [robot_state_publisher]: got segment wrist_3_link [spawn_entity.py-6] [INFO] [1684423293.468417590] [spawn_ur]: Spawn Entity started [spawn_entity.py-6] [INFO] [1684423293.469157914] [spawn_ur]: Loading entity published on topic robot_description [spawn_entity.py-6] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-6] warnings.warn( [spawn_entity.py-6] [INFO] [1684423293.573294465] [spawn_ur]: Waiting for entity xml on robot_description [spawn_entity.py-6] [INFO] [1684423293.590321537] [spawn_ur]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-6] [INFO] [1684423293.592831509] [spawn_ur]: Waiting for service /spawn_entity [spawner-2] [INFO] [1684423295.029702332] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1684423295.030303384] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawn_entity.py-6] [INFO] [1684423296.526037373] [spawn_ur]: Calling service /spawn_entity [spawn_entity.py-6] [INFO] [1684423296.884246912] [spawn_ur]: Spawn status: SpawnEntity: Successfully spawned entity [ur] [spawner-2] [INFO] [1684423297.048555739] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1684423297.049675852] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [INFO] [spawn_entity.py-6]: process has finished cleanly [pid 8436] [spawner-2] [INFO] [1684423299.081568071] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1684423299.081701567] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-2] [INFO] [1684423301.116170954] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1684423301.118941935] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-2] [ERROR] [1684423303.136676786] [spawner_joint_state_broadcaster]: Controller manager not available [spawner-3] [ERROR] [1684423303.139498580] [spawner_joint_trajectory_controller]: Controller manager not available [ERROR] [spawner-3]: process has died [pid 8430, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --ros-args']. [ERROR] [spawner-2]: process has died [pid 8428, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args']. [INFO] [rviz2-7]: process started with pid [8621] [rviz2-7] [INFO] [1684423304.406654449] [rviz2]: Stereo is NOT SUPPORTED [rviz2-7] [INFO] [1684423304.407099500] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-7] [INFO] [1684423304.500604259] [rviz2]: Stereo is NOT SUPPORTED [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-1] [INFO] [1684423309.847206164] [rclcpp]: signal_handler(signum=2) [rviz2-7] [INFO] [1684423309.848432310] [rclcpp]: signal_handler(signum=2) [rviz2-7] Warning: Invalid frame ID "forearm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "shoulder_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "upper_arm_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_1_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [rviz2-7] Warning: Invalid frame ID "wrist_2_link" passed to canTransform argument source_frame - frame does not exist [rviz2-7] at line 93 in ./src/buffer_core.cpp [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 8426] [INFO] [rviz2-7]: process has finished cleanly [pid 8621] [INFO] [gzserver-4]: process has finished cleanly [pid 8432] [ERROR] [gzclient-5]: process[gzclient-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [gzclient-5]: sending signal 'SIGTERM' to process[gzclient-5] [ERROR] [gzclient-5]: process has died [pid 8434, exit code -11, cmd 'gzclient']. ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ```
danzimmerman commented 1 year ago

This is the relevant part of the error, though it's not informative about WHY the error happened.

ros2_control Output

``` [INFO] [1684423295.029702332] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1684423295.030303384] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawn_entity.py-6] [INFO] [1684423296.526037373] [spawn_ur]: Calling service /spawn_entity [spawn_entity.py-6] [INFO] [1684423296.884246912] [spawn_ur]: Spawn status: SpawnEntity: Successfully spawned entity [ur] [spawner-2] [INFO] [1684423297.048555739] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1684423297.049675852] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [INFO] [spawn_entity.py-6]: process has finished cleanly [pid 8436] [spawner-2] [INFO] [1684423299.081568071] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1684423299.081701567] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-2] [INFO] [1684423301.116170954] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1684423301.118941935] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-2] [ERROR] [1684423303.136676786] [spawner_joint_state_broadcaster]: Controller manager not available [spawner-3] [ERROR] [1684423303.139498580] [spawner_joint_trajectory_controller]: Controller manager not available [ERROR] [spawner-3]: process has died [pid 8430, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --ros-args']. [ERROR] [spawner-2]: process has died [pid 8428, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'] ```

I didn't use rosdep to install any dependecies.

You should always install dependencies with rosdep when you're building from source in a workspace.

I am pretty sure that you are missing the gazebo_ros2_control plugin and so the version of /controller_manager that interacts with the Gazebo simulation never starts. That level of detail is not obvious from the messages, I've just had this issue before.

Anyway, since /controller_manager is not running, none of the controller spawners can load their controllers, and you end up missing all the nodes that allow you to control the robot and that get joint values from the physics simulation and broadcast them to ROS.

Icon45 commented 1 year ago

Thank you very much (!) for helping me to sort out this issue. Running the rosdep install --from-paths src --ignore-src -r -y command fixed the problem for me and the package now is working as it should (except for the movit launch file stuff mentioned in https://github.com/danzimmerman/Universal_Robots_ROS2_Gazebo_Simulation/issues/1 of course).