Wheels not showing up in Rviz

[marco-monforte]

Hi Petrik,

First of all, thanks for making this very cool project open-source!

I'm trying to run everything (ignition, controller, localization, and navigation) but, when launching the robot, I can't see the wheels and get this error message in the RobotModel display. Would you happen to know how to fix it?

I've also tried launching the zinger_swerve_controller.

[marco-monforte]

PS: there's a typo in this repo's README.md and the zinger_nav. The launch command should be ros2 launch zinger_ignition ignition.launch.py rviz:=true world:=empty_world instead of ignition_launch

[pvandervelde]

Did you set the fixed frame in Rviz to map? If you don't I think you get the result you found. I updated the readme for the nav package recently to indicate that you need to do that in pvandervelde/zinger_nav#2. You can find that comment here: https://github.com/pvandervelde/zinger_nav/blob/2895c841b3ffb2f669c4adfa75e789a152eea94a/README.md?plain=1#L95.

And thanks for pointing out the typo's. I've pushed some fixes

[marco-monforte]

I did, but apparently, the map is not being published. I get this error on the nav2.launch.py terminal:

[planner_server-3] [INFO] [1718270490.782627877] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

But also doing ros2 topic echo map shows the topic to exist but nothing getting through

I see the localization.launch.yaml in the nav2 package is not used anymore, but then I don't know where the map should come from

[pvandervelde]

Ooh are you running the zinger_swerve_controller? That publishes a transform from base_footprint to odom and then nav creates the transform from odom to map I think.