Hokuyo doesn't publish a frame,Error: Ingoring transform for child_frame_id "laser_2"...
I am using Ubuntu 16.04 and ROS Kinetic. I am trying to visualize two lidar data on rviz at the same time. I connected to the lidars by using following launch file.
<launch>
<master auto="start"/>
<node name="urg1" pkg="urg_node" type="urg_node">
<param name="ip_address" value="192.168.1.10" />
<remap from="scan" to="/scan1" />
<param name="frame_id" type="string" value="laser_1" />
</node>
<node name="urg2" pkg="urg_node" type="urg_node">
<param name="ip_address" value="192.168.1.11" />
<remap from="scan" to="/scan2" />
<param name="frame_id" type="string" value="laser_2" />
</node>
</launch>
After I run the launch file above, I checked published topics by using rostopic list
/diagnostics
/laser_status
/rosout
/rosout_agg
/scan1
/scan2
/urg1/parameter_descriptions
/urg1/parameter_updates
/urg2/parameter_descriptions
/urg2/parameter_updates
After that I checked published frames by using rosrun tf tf_monitor. The result is empty.
RESULTS: for all Frames
Frames:
All Broadcasters:
Finally I run my second launch file to create a TF tree and run rviz which is given bellow:
<?xml version="1.0"?>
<launch>
<arg name="model"/>
<arg name="gui" default="false"/>
<arg name="rvizconfig" default="$(find model)/rviz/urdf.rviz"/>
<param name="robot_description" command="$(find xacro)/xacro.py $(find model)/urdf/$(arg model)"/>
<param name="use_gui" value="$(arg gui)"/>
<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 pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 0 base_link laser_1 100" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 0 hokuyo_2 laser_2 100" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true"/>
</launch>
I give my URDF file as input. The URDF file is given bellow:
<?xml version="1.0" ?>
<robot name="agv">
<material name="red">
<color rgba="0.8 0 0 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<!-- Base link -->
<link name="base_link">
<visual>
<geometry>
<box size="1.54 1.05 0.3"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<box size="1.54 1.05 0.3"/>
</geometry>
</collision>
<inertial>
<mass value="150"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0"/>
</inertial>
</link>
<!-- Wheels -->
<link name="right_wheel_1">
<visual>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<material name="black"/>
<origin xyz="0 0 0" rpy="0 1.57 1.57"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
<origin xyz="0 0 0" rpy="0 1.57 1.57"/>
</collision>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz ...