运行roslaunch后在rviz界面报错No transform from [link1] to [base_link]
且显示的模型与代码预期不同。
终端界面报错:
ERROR: cannot launch node of type [ joint_ state publisher_ gui/joint_ state_ publish er_ gui]: joint_ state_ publisher_ gui
ROS path[0]=/opt/ros/kinetic/share/ros
ROS path [ 1 ]= /home/kazuho/catkin_ ws/src
ROS path [ 2 ]=/opt/ros/kinetic/share
原因:
这是因为缺少 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:
搞定。