ROS2显示urdf模型中No transform from [XX_Link] to [base_link]

ROS2显示urdf模型中No transform from [XX_Link] to [base_link]

错误

该错误中关节joint为fixed可以正常显示，而其他joint为cotinuous,都显示无法关联到base_link，当我尝试把所有joint改为fixed时可以显示正常，但这并不是正确的解决办法。

解决

原因是在launch文件中未添加joint_state_publisher节点,导致旋转关节无法关联

display_launch.py

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import Command

from ament_index_python.packages import get_package_share_directory
from launch_ros.parameter_descriptions import ParameterValue


def generate_launch_description():
    p_value = ParameterValue(Command(["xacro ", get_package_share_directory("cpp06_urdf") + "/urdf/urdf/ros_car.urdf"]))
    robot_state_pub = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        parameters=[{"robot_description":p_value}]
    )
    rviz2 = Node(
        package="rviz2", 
        executable="rviz2",
        arguments=["-d", get_package_share_directory("cpp06_urdf")+"/rviz/ros_car.urdf.rviz"])
    return LaunchDescription([robot_state_pub, rviz2])

添加joint_state_publisher节点

    joint_state_pub = Node(
        package="joint_state_publisher", 
        executable="joint_state_publisher")
    
    return LaunchDescription([robot_state_pub,joint_state_pub, rviz2])

重新编译并运行

colcon build --packages-select cpp06_urdf
. install/setup.bash
ros2 launch cpp06_urdf display_launch.py 

显示正常