Fixed Frame [map] does not exist
hi . i using solidworks to get urdf file .
in rviz i have this error : Fixed Frame [map] does not exist
how can i fix that error ????
it is my launch file :
<launch>
<arg name="model" />
<param name="robot_description" textfile="$(find wrist)/urdf/wrist.urdf" />
<param name="use_gui" value="true" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find wrist)/urdf.rviz" required="true" />
</launch>
it is my urdf file :
<?xml version="1.0"?>
<robot name="wrist">
<link name="base_link">
<inertial>
<origin xyz="-0.0155222222222222 0.0506514619883041 -0.0711837607475986" rpy="0 0 0" />
<mass value="0.161357633901786" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://wrist/meshes/base_link.stl" />
</geometry>
<material name="">
<color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://wrist/meshes/base_link.stl" />
</geometry>
</collision>
</link>
<link name="m2_1">
<inertial>
<origin xyz="1.73472347597681E-18 3.46944695195361E-18 -0.0748894348894349" rpy="0 0 0" />
<mass value="0.0767176926006627" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://wrist/meshes/m2_1.stl" />
</geometry>
<material name="">
<color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://wrist/meshes/m2_1.stl" />
</geometry>
</collision>
</link>
<joint name="m2_1" type="continuous">
<origin xyz="-0.0155222222222222 0.0225000000000004 0.0416514619883041" rpy="3.14159265358979 0 0" />
<parent link="base_link" />
<child link="m2_1" />
<axis xyz="0 0 -1" />
</joint>
<link name="4_1">
<inertial>
<origin xyz="5.20417042793042E-18 1.38777878078145E-17 0.0075" rpy="0 0 0" />
<mass value="0.192949779317265" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://wrist/meshes/4_1.stl" />
</geometry>
<material name="">
<color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://wrist/meshes/4_1.stl" />
</geometry>
</collision>
</link>
<joint name="4_1" type="fixed">
<origin xyz="-0.0155222222222222 0.00750000000000036 0.0506514619883041" rpy="1.5707963267949 0 0" />
<parent link="base_link" />
<child link="4_1" />
<axis xyz="0 0 0" />
</joint>
<link name="m1_1">
<inertial>
<origin xyz="6.93889390390723E-18 0 0.0444256539427829" rpy="0 0 0" />
<mass value="0.0916588444916701" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://wrist/meshes/m1_1.stl" />
</geometry>
<material name="">
<color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://wrist/meshes/m1_1.stl" />
</geometry>
</collision>
</link>
<joint name ...