rviz2显示不全关节，无转换关系报错

房间里的大象

<robot name="demo03_joint">
    <material name="yellow">
        <color rgba="0.8 0.8 0.0 0.5"/>
    </material>
    <material name="red">
        <color rgba="0.9 0.0 0.0 0.5"/>
    </material>
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.5 0.3 0.1"/>
            </geometry>
            <material name="yellow"/>
        </visual>
    </link>
    <link name="camera">
        <visual>
            <geometry>
                <box size="0.05 0.05 0.05"/>
            </geometry>
            <material name="red"/>
        </visual>
    </link>
    <joint name="camer2base" type="continuous">
        <parent link="base_link"/>
        <child link="camera"/>
        <origin xyz="0.2 0.0 0.0"/>
        <axis xyz="0.0 0.0 1"/>
    </joint>
</robot>

rviz2-2]          at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp

亮仔

base_link主坐标系未定义