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ros-naoqi / pepper_meshes

Pepper robot meshes
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Ros meshes not available in Rviz #7

Open tomkimsour opened 3 years ago

tomkimsour commented 3 years ago

Hello, I'm pretty new to ros environment and i'm trying to vizualize a map in rviz with pepper robot.

First i start my launch file : 

<?xml version="1.0"?>

<launch>
    <param name="use_sim_time" value="true" />
    <node pkg="tf" type="static_transform_publisher" name="map_world_broadcaster" args="0 0 0 0 0 0 world /map 100" />

    <node name="octomap_server" pkg="octomap_server" type="octomap_server_node">
        <remap from="cloud_in" to="/camera/depth/points" />
        <param name="frame_id" type="string" value="map" />
        <param name="latch" value="false" />
        <param name="resolution" value="0.05" />
    </node> 

    <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">

        <rosparam file="$(find navigation)/nav_config/move_base_params.yaml" command="load" />
        <rosparam file="$(find navigation)/nav_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find navigation)/nav_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find navigation)/nav_config/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find navigation)/nav_config/global_costmap_params.yaml" command="load" />

        <rosparam file="$(find navigation)/nav_config/dwa_local_planner_params.yaml" command="load" />
        <rosparam file="$(find navigation)/nav_config/navfn_global_planner_params.yaml" command="load" />
    </node>

    <node name="rviz" pkg="rviz" type="rviz" args="-d src/pepper_robot/pepper_description/config/pepper.rviz
" />
</launch>

Now Rviz started but i don't have anything on the map. So i click the add button, add a new RobotModel and i get a long list of errors like this : 

No transform from [BumperB_frame] to [map]
No transform from [BumperFL_frame] to [map]
No transform from [BumperFL_frame] to [map]

Here is a look at what my window looks like

meshes_issue

tomkimsour commented 3 years ago

Apparently changing the fixed frame to odom solves some of the issues. The only reminding are : 

No transform from [WheelB_link] to [odom]
No transform from [WheelFL_link] to [odom]
No transform from [WheelFR_link] to [odom]
No transform from [l_gripper] to [odom]
No transform from [r_gripper] to [odom]

Which i still do not understand properly