urdf Error Not transform from [wheel] to [base_link] Status Error in RViz

Based on the sample, the continuous joint is written on urdf as shown below, but
Not transform from [left_wheel_link] when viewed in RViz to [base_link] and connection is not recognized correctly.

RViz does not recognize the continuous part of the wheel even if I make a full copy of the wheel sample from another site, but is the setting insufficient?

"Joints in Alphabetic Order" and "Links in Alphabetic Order" by Points are recognized by both Links and Points, and if you press Show Axes, you can see Axes, but you can't see the wheel visual.

In addition, base_link is displayed in RViz.

referenced site

Robotics (3) starting with ROS - Prepare a differential two-wheeler robot
Robot Modeling Workshop: How to Create URDF by gbiggs

Run Environment
RViz 1.13.7 (Melodic)
Ubuntu 18LTS

Current source code

<?xml version="1.0"?>
<robot name="my_robo">
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.4000.2000"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <box size="0.4000.2000"/>
            </geometry>
        </collision>
    </link>
    <link name="left_wheel_link">
        <visual>
            <geometry>
                <cylinder radius="0.1" length="0.05"/>
            </geometry>
            <originxyz="00" rpy="00"/>
            <material name="black"/>
        </visual>
    </link>

    <joint name="left_wheel_joint" type="continuous">
        <parent link="base_link"/>
        <child link="left_wheel_link"/>
        <origin rpy="-1.570700"xyz="-0.1000.1300" />
        <axisxyz="00 1"/>
    </join>
</robot>

xml

2022-09-29 21:29

1 Answers

I had the same symptom myself.I looked it up and found that join_state_publisher and robot_state_publisher were not working.I think the following links will be helpful.

https://answers.ros.org/question/9365/no-transform-from-anything-to-base_link/

2022-09-29 21:29

If you have any answers or tips

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