[Bug集合]No tf data. Actual error: Fixed Frame [map] does not exist

ros中rviz使用时的入门问题。你的坐标系没有给出参考点坐标。

要么cmd一下

 rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map xxx 100 

要么程序中输出一下tf，例如

#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>

static tf::TransformBroadcaster br;
tf::Transform transform;
tf::Quaternion q;
transform.setOrigin(tf::Vector3(0,0,0));
q.setW(1);
q.setX(0);
q.setY(0);
q.setZ(0);
transform.setRotation(q);
br.sendTransform(tf::StampedTransform(transform, ros_cloud.header.stamp, "map", "map_child"));