第八章创建的模型在rviz2可视化中报Warning

C-002

按照教程8.3 动手创建一个移动机器人添加机器人右轮，在使用rviz2查看效果时terminal回报Warning，请问是什么原因？是什么造成警报的？详细信息如下

warning信息：

[rviz2-3] Warning: Invalid frame ID "right_wheel_link" passed to canTransform argument source_frame - frame does not exist

模型效果：

终端输出：

$ ros2 launch fishbot_description display_rviz2.launch.py 
[INFO] [launch]: All log files can be found below /home/ae/.ros/log/2023-05-16-15-20-14-965838-ae-ubuntu-22-9248
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [9249]
[INFO] [joint_state_publisher_gui-2]: process started with pid [9251]
[INFO] [rviz2-3]: process started with pid [9253]
[rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[robot_state_publisher-1] [WARN] [1684221615.098850601] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-1] [INFO] [1684221615.103959799] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1684221615.104012749] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1684221615.104019117] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1684221615.104023186] [robot_state_publisher]: got segment right_wheel_link
[rviz2-3] [INFO] [1684221615.368455227] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1684221615.368700274] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
[rviz2-3] [INFO] [1684221615.402794128] [rviz2]: Stereo is NOT SUPPORTED
[joint_state_publisher_gui-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[rviz2-3] Warning: Invalid frame ID "right_wheel_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "right_wheel_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 93 in ./src/buffer_core.cpp
[joint_state_publisher_gui-2] [INFO] [1684221615.789086657] [joint_state_publisher_gui]: Centering

机器人URDF文件：

<?xml version="1.0"?>
<robot name="fishbot">
    
    <!-- base link -->
    <link name="base_link">
        <visual>
            <origin xyz="0 0 0.0" rpy="0 0 0"/>
            <geometry>
                <cylinder length="0.12" radius="0.10"/>
            </geometry>
            <material name="blue">
                <color rgba="0.1 0.1 1.0 0.5" /> 
            </material>
        </visual>
    </link>
    
    <!-- laser link -->
    <link name="laser_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <cylinder length="0.02" radius="0.02"/>
            </geometry>
            <material name="black">
                <color rgba="0.0 0.0 0.0 0.8" /> 
            </material>
        </visual>
    </link>
    
    <!-- laser joint -->
    <joint name="laser_joint" type="fixed">
        <parent link="base_link" />
        <child link="laser_link" />
        <origin xyz="0 0 0.075" />
    </joint>

    <!-- imu link -->
    <link name="imu_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="0.01 0.01 0.01" />
            </geometry>
            <material name="red">
                <color rgba="1.0 0.1 0.1 0.8" />
            </material>
        </visual>
    </link>

    <!-- imu joint-->
    <joint name="imu_joint" type="fixed">
        <parent link="base_link" />
        <child link="imu_link" />
        <origin xyz="0 0 0.02" />
    </joint>

    <!-- right wheel link -->
    <link name="right_wheel_link">
        <visual>
            <origin xyz="0 0 0" rpy="1.57079 0 0" />
            <geometry>
                <cylinder length="0.04" radius="0.032" />
            </geometry>
            <material name="black">
                <color rgba="0.0 0.0 0.0 0.5" /> 
            </material>
        </visual>
    </link>

    <!-- right wheel joint-->
    <joint name="right_wheel_joint" type="continuous">
        <parent link="base_link" />
        <child link="right_wheel_link" />
        <origin xyz="-0.02 -0.10 -0.06" />
        <axis xyz="0 1 0" />
    </joint>

</robot>

机器人小伊

@342918498 如果是启动时报一下没关系，因为 rviz 启动太快了，没来得及更新tf信息，如果一直报就是tf有问题了他