ROS问题—Rviz显示URDF模型时报错：No transform from [anything] to [base_link]

操作系统：Ubuntu 16.04
ROS版本：kinetic

问题

在使用Rviz显示URDF模型时，Rviz可以正常打开，但出现如下报错：

No transform from [anything] to [base_link]

命令行终端报错如下：

[ERROR] [1586164821.790872]: Could not find the GUI, install the 'joint_state_publisher_gui' package
[joint_state_publisher-2] process has died [pid 11942, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/cai/.ros/log/d663b920-77e7-11ea-a137-2c6e8599f6bf/joint_state_publisher-2.log].
log file: /home/cai/.ros/log/d663b920-77e7-11ea-a137-2c6e8599f6bf/joint_state_publisher-2*.log

原因

未安装 joint_state_publisher_gui 功能包

解决

输入如下命令，安装 joint_state_publisher_gui 功能包

sudo apt-get install ros-kinetic-joint-state-publisher-gui

安装完之后重新运行launch文件，会多出一个 joint_state_publisher 插件，如图所示：
完美解决！

参考：
1、Melodic 使用URDF创建简单的机器人模型