TF with unknown publisher

melodic

asked 2020-07-08 06:50:02 -0600

pitosalas
628 ●116 ●149 ●169

updated 2020-07-13 20:30:53 -0600

What might cause a TF to have an "unknown publisher?" I am seeing an inability to show /scan within rviz with this error. I have checked and double checked everything I know how to and I can't find it. I really could use a little help troubleshooting this! Thanks,

More details

When roscore is started on the robot as a biproduct of roslaunch this warning flies by. Could it be relevant?

[ WARN] [1594689587.480382535]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

Original background info

I see this error in rviz when I setup fixed frame to be odom and laser_scan to be /scan:

Transform [sender=unknown_publisher]
Unknown reason for transform failure

Here's information about the transform:

Chain is: base_link -> odom
Net delay     avg = 0.0192853: max = 0.156318

Frames:
Frame: base_link published by unknown_publisher Average Delay: -0.0030077 Max Delay: 0

All Broadcasters:
Node: unknown_publisher 55.824 Hz, Average Delay: -0.021014 Max Delay: 0

Additional Details

Rviz is failing to find a mapping between /odom and /base_scan for a similar reason:

image description

And yet, the tf tree looks ok:

image description

And other than the "unknown publisher" the tfs seem ok:

image description

and

edit retag flag offensive close merge delete

Comments

You seem to be using tf_monitor, I think it might be bugged because if I use it I also get "unknown publisher" but if I use rqt_tf_tree the broadcasters are correctly identified. Also roswtf doesn't complain. Try those other debugging tool to see if there is really something bad happening.