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    Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist

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    urdf warning
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    • 2716585362
      ℡﹏smˋ背靠背の承诺
      最后由 小鱼 编辑

      urdf文件

      <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from test03_my_car.xacro            | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- 组合小车底盘与摄像头与雷达 -->
<robot name="my_car">
  <!-- 圆柱惯性矩阵 -->
  <!-- 立方体惯性矩阵 -->
  <!-- 宏:黑色设置 -->
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <!-- 质量  -->
  <!-- 底盘 -->
  <link name="base_footprint">
    <visual>
      <geometry>
        <sphere radius="0.001"/>
      </geometry>
    </visual>
  </link>
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.08" radius="0.1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="yellow">
        <color rgba="0.5 0.3 0.0 0.5"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.08" radius="0.1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.5"/>
      <inertia ixx="0.001516666666666667" ixy="0" ixz="0" iyy="0.001516666666666667" iyz="0" izz="0.0025000000000000005"/>
    </inertial>
  </link>
  <joint name="base_link2base_footprint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0 0 0.055"/>
  </joint>
  <gazebo reference="base_link">
    <material>Gazebo/Yellow</material>
  </gazebo>
  <!-- 质量  -->
  <link name="left_wheel">
    <visual>
      <geometry>
        <cylinder length="0.015" radius="0.0325"/>
      </geometry>
      <origin rpy="1.5707963 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.015" radius="0.0325"/>
      </geometry>
      <origin rpy="1.5707963 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.4140625000000002e-05" ixy="0" ixz="0" iyy="1.4140625000000002e-05" iyz="0" izz="2.6406250000000005e-05"/>
    </inertial>
  </link>
  <joint name="left_wheel2base_link" type="continuous">
    <parent link="base_link"/>
    <child link="left_wheel"/>
    <origin xyz="0 0.1 -0.0225"/>
    <axis xyz="0 1 0"/>
  </joint>
  <gazebo reference="left_wheel">
    <material>Gazebo/Red</material>
  </gazebo>
  <link name="right_wheel">
    <visual>
      <geometry>
        <cylinder length="0.015" radius="0.0325"/>
      </geometry>
      <origin rpy="1.5707963 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.015" radius="0.0325"/>
      </geometry>
      <origin rpy="1.5707963 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.4140625000000002e-05" ixy="0" ixz="0" iyy="1.4140625000000002e-05" iyz="0" izz="2.6406250000000005e-05"/>
    </inertial>
  </link>
  <joint name="right_wheel2base_link" type="continuous">
    <parent link="base_link"/>
    <child link="right_wheel"/>
    <origin xyz="0 -0.1 -0.0225"/>
    <axis xyz="0 1 0"/>
  </joint>
  <gazebo reference="right_wheel">
    <material>Gazebo/Red</material>
  </gazebo>
  <!-- 质量  -->
  <link name="front_wheel">
    <visual>
      <geometry>
        <sphere radius="0.0075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.03"/>
      <inertia ixx="6.75e-07" ixy="0" ixz="0" iyy="6.75e-07" iyz="0" izz="6.75e-07"/>
    </inertial>
  </link>
  <joint name="front_wheel2base_link" type="continuous">
    <parent link="base_link"/>
    <child link="front_wheel"/>
    <origin xyz="0.0925 0 -0.0475"/>
    <axis xyz="1 1 1"/>
  </joint>
  <gazebo reference="front_wheel">
    <material>Gazebo/Red</material>
  </gazebo>
  <link name="back_wheel">
    <visual>
      <geometry>
        <sphere radius="0.0075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.03"/>
      <inertia ixx="6.75e-07" ixy="0" ixz="0" iyy="6.75e-07" iyz="0" izz="6.75e-07"/>
    </inertial>
  </link>
  <joint name="back_wheel2base_link" type="continuous">
    <parent link="base_link"/>
    <child link="back_wheel"/>
    <origin xyz="-0.0925 0 -0.0475"/>
    <axis xyz="1 1 1"/>
  </joint>
  <gazebo reference="back_wheel">
    <material>Gazebo/Red</material>
  </gazebo>
  <!-- 摄像头安装的z坐标:底盘高度 / 2 + 摄像头高度 / 2  -->
  <!-- 摄像头质量 -->
  <!-- 摄像头关节以及link -->
  <link name="camera">
    <visual>
      <geometry>
        <box size="0.01 0.025 0.025"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.01 0.025 0.025"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="6.041666666666668e-07" ixy="0" ixz="0" iyy="6.041666666666668e-07" iyz="0" izz="1.041666666666667e-06"/>
    </inertial>
  </link>
  <joint name="camera2base_link" type="fixed">
    <parent link="base_link"/>
    <child link="camera"/>
    <origin xyz="0.08 0.0 0.052500000000000005"/>
  </joint>
  <gazebo reference="camera">
    <material>Gazebo/Blue</material>
  </gazebo>
  <!-- 支架安装的z坐标:底盘高度 / 2 + 支架高度 / 2  -->
  <!-- 支架质量 -->
  <link name="support">
    <visual>
      <geometry>
        <cylinder length="0.15" radius="0.01"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="red">
        <color rgba="0.8 0.2 0.0 0.8"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.15" radius="0.01"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.02"/>
      <inertia ixx="3.8e-05" ixy="0" ixz="0" iyy="3.8e-05" iyz="0" izz="1.0000000000000002e-06"/>
    </inertial>
  </link>
  <joint name="support2base_link" type="fixed">
    <parent link="base_link"/>
    <child link="support"/>
    <origin xyz="0.0 0.0 0.11499999999999999"/>
  </joint>
  <gazebo reference="support">
    <material>Gazebo/White</material>
  </gazebo>
  <!-- 雷达安装的z坐标:支架高度 / 2 + 雷达高度 / 2  -->
  <!-- 雷达质量 -->
  <!-- 雷达关节以及link -->
  <link name="laser">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.03"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.03"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="4.333333333333333e-05" ixy="0" ixz="0" iyy="4.333333333333333e-05" iyz="0" izz="4.4999999999999996e-05"/>
    </inertial>
  </link>
  <joint name="laser2support" type="fixed">
    <parent link="support"/>
    <child link="laser"/>
    <origin xyz="0.0 0.0 0.1"/>
  </joint>
  <gazebo reference="laser">
    <material>Gazebo/Black</material>
  </gazebo>
  <!-- 控制器 -->
  <gazebo>
    <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
          <ros>
            <namespace>/</namespace>
            <remapping>cmd_vel:=cmd_vel</remapping>
            <remapping>odom:=odom</remapping>
          </ros>
          <update_rate>30</update_rate>
          <left_joint>left_wheel2base_link</left_joint>
          <right_joint>right_wheel2base_link</right_joint>
          <!-- kinematics -->
          <wheel_separation>0.2</wheel_separation>
          <wheel_diameter>0.065</wheel_diameter>
          <!-- limits -->
          <max_wheel_torque>20</max_wheel_torque>
          <max_wheel_acceleration>1.0</max_wheel_acceleration>
          <!-- output -->
          <publish_odom>true</publish_odom>
          <publish_odom_tf>true</publish_odom_tf>
          <publish_wheel_tf>false</publish_wheel_tf>
          <odometry_frame>odom</odometry_frame>
          <robot_base_frame>base_footprint</robot_base_frame>
      </plugin>
      <plugin name="fishbot_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
          <ros>
            <remapping>~/out:=joint_states</remapping>
          </ros>
          <update_rate>30</update_rate>
          <joint_name>left_wheel2base_link</joint_name>
          <joint_name>right_wheel2base_link</joint_name>
      </plugin>    
  </gazebo>
</robot>

      launch代码

      import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    package_name = 'fishbot_description'
    urdf_name = "test04.urdf"
    rviz_name = "demo01.rviz"
    robot_name_in_model = 'fishbot'

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
    rviz_path_ = os.path.join(pkg_share, f'config/{rviz_name}')
    gazebo_world_path = os.path.join(pkg_share, 'world/box_house.world')


     # Start Gazebo server
    start_gazebo_cmd = ExecuteProcess(
        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so',gazebo_world_path],
        output='screen')

     # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')


    # 添加机器人状态发布节点
    robot_state_publisher_node = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        arguments=[urdf_model_path]
        )

    # 可选:用于控制关节运动的节点
    joint_state_publisher_gui_node = Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        arguments=[urdf_model_path]
        )

    rviz2_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', rviz_path_]
        # arguments=['-d', rviz_path]
        )

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)
    ld.add_action(robot_state_publisher_node)
    # ld.add_action(joint_state_publisher_gui_node)
    ld.add_action(rviz2_node)

    return ld

      运行launch文件后会出现警告是怎么回事呢
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-4] Warning: Invalid frame ID "front_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-4]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
      小鱼小 1 条回复 最后回复 回复 引用 0
      • 小鱼小
        小鱼 技术大佬 @271658536
        最后由 小鱼 编辑

        @271658536 在 Warning: Invalid frame ID "back_wheel" passed to canTransform argument source_frame - frame does not exist 中说：

          <plugin name="fishbot_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
      <ros>
        <remapping>~/out:=joint_states</remapping>
      </ros>
      <update_rate>30</update_rate>
      <joint_name>left_wheel2base_link</joint_name>
      <joint_name>right_wheel2base_link</joint_name>
  </plugin>

        在这里加入下front_wheel back_wheel

        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

        2716585362 1 条回复 最后回复 回复 引用 0
        • 2716585362
          ℡﹏smˋ背靠背の承诺 @小鱼
          最后由 编辑

          @小鱼 感谢小鱼大佬，问题得到解决

          1 条回复 最后回复 回复 引用 0
          • 2716585362 271658536 将这个主题标记为已解决，在
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