RViz2 can't show the correct model

[EndlessLoops]

I found it always can;t show the correct model in RViz2.

$ ros2 launch turtlebot4_viz view_model.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-08-17-10-02-09-090179-NUC10I5-3914
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [3916]
[rviz2-1] [INFO] [1660701729.625289952] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1660701729.625436821] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1660701729.650154951] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1660701729.858087504] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: Invalid frame ID "wheel_drop_left" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_right" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_left" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_right" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_left" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_right" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_left" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_right" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_left" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "wheel_drop_right" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.3/src/buffer_core.cpp

[roni-kreinin]

RVIZ is showing the robot model that is published to the /robot_description topic. Can you call cat /etc/turtlebot4 on the RPi and make sure you are using the Lite image?

[EndlessLoops]

I have two robot. I use the tb4-standard and tb4-lite at the same time. Tb4-standard's porblem is that RViz can't show the correct model .

[roni-kreinin]

Have you configured the ROS_DOMAIN_ID for each robot? You cannot have both robots on the same ROS_DOMAIN_ID otherwise their topics will interfere.

[EndlessLoops]

I did it . They have different ROS_DOMAIN_IDand their communication work fine.

[roni-kreinin]

Is the screenshot posted above when you are trying to view the Standard in RVIZ?

[EndlessLoops]

Yes，it always show it .

[roni-kreinin]

It is showing the correct model. Are you referring to the error messages from rviz2?

[EndlessLoops]

Can't you see the Create® 3 multizone bumper separating from the robot in the above screenshot ？

[roni-kreinin]

This is just a visual bug. I already have an open ticket on the create3_sim repo (https://github.com/iRobotEducation/create3_sim/issues/170) so I will close this as duplicate.