Rviz - Fixed Frame [world] does not exist

[rmbp]

Hi,

I'm running on a fresh master install, all working fine, except the URDF's aren't appearing in Rviz as: Global Status Warn - Fixed Frame: No tf data. Actual error: Fixed Frame [world] does not exist.

And subsequently there is a status error for all robots (in rviz), as there is no transform to the non existent frame.

Reinstalled ipopt, ifopt, xpp and towr and rebuilt the ws but no change.

Any ideas?

Thanks!

[awinkler]

Hi! You have to run the optimization ('o') at least once so the URDFs are shown, did you do this?

Also, can you verify that rviz shows the frame "world" like here:

[rmbp]

thanks for the quick reply.

I've optimised more than once, but still the same result, for all robot models.

[awinkler]

Alright, hm...this could be related to http://wiki.ros.org/xpp. You can try installing this from github source, instead of the ros binaries. There should be a node that transforms the cartesian footholds you see visualized to the joint angles for the URDF:

[rmbp]

That did it! Thanks for your help.

[awinkler]

So installing xpp through the ROS binaries sudo apt-get install ros-kinetic-xpp caused the problem? If you can give me a bit more detail, maybe I can fix that :-)

[rmbp]

Yes it appears so. I purged ros-kinetic-xpp, then built xpp from source and now have no issues. What details would you like?

[awinkler]

I see, alright, that at least tells me the newest version is working. That will make it into the binaries soon as well. Thanks.