Hi! Could be rviz (or any over utils) used for interactive placing route points of the robot? Thank you! **UPD** it seems possible to write the plugin for rviz (although it is strange that this has not - the problem seems standard). But the documentation on writing rviz plugins doesnt available :(

Hi, I am using robot_localization package on ROS Kinetic to fuse imu data with wheel encoder odometry and generate a odometry/filtered message to navigate using AMCL for localization. My robot uses a raspberry pi 3 running Ubuntu Mate 16.04.2 and Arduino boards. It uses a Neato XV-11 Lidar for the laser scans. My launch works but the terminal does not stop to print this Warning message: Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Also, in Rviz the topic /odometry/filtered got blinking errors at a rate of 4 Hz. The Rviz error : Transform [sender=unknown_publisher] For frame [odom]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 1516667536.039499044 but the latest data is at time 1516667536.027499399, when looking up transform from frame [odom] to frame [map]] When it has no error: Transform [sender=unknown_publisher] Transform OK **What is the error in my application? Is there a solution to stop this warning?** Thank you! =) **I tried to upload images but I dont have points enough in ros answers.** My tf tree is: **Map** -----/amcl (avg rate:4.05)-----> **odom** ----- /ekf_localization_node_odom2base (avg rate 49.5) ---> **base_link** **base_link** ------- /tf_neato (avg rate:96.7) ------ > **laser** **base_link** -------- /tf_imu (avg rate: 97.0) ---------> **imu_frame** Here is the ekf_localization.yaml config file: #2nd config for the 2nd node to make tf odom to base_link #It is almost identical, just world_frame: odom. #Configuration for robot odometry EKF # frequency: 50 two_d_mode: true publish_tf: true base_link_frame: base_link odom_frame: odom map_frame: map world_frame: odom #meaning_matrix_config: [ X, Y, Z, # roll, pitch, yaw, # X/dt, Y/dt, Z/dt, # roll/dt, pitch/dt, yaw/dt, # X/dt2, Z/dt2, Z/dt2] odom0: /odom odom0_config: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false] odom0_differential: false imu0: /imu imu0_config: [false, false, false, false, false, true, false, false, false, false, false, true, true, false, false] imu0_differential: false Here is the terminal of my_file.launch: ... logging to /home/pi/.ros/log/a276a068-ffcc-11e7-a672-b827ebd25c92/roslaunch-pi-desktop-730.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://10.42.0.1:45873/ SUMMARY ======== PARAMETERS * /amcl/base_frame_id: base_link * /amcl/first_map_only: False * /amcl/global_frame_id: map * /amcl/gui_publish_rate: 10.0 * /amcl/kld_err: 0.01 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 2.0 * /amcl/laser_max_beams: 100 * /amcl/laser_max_range: -1 * /amcl/laser_min_range: -1 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.1 * /amcl/laser_z_hit: 0.85 * /amcl/laser_z_max: 0.0 * /amcl/laser_z_rand: 0.15 * /amcl/laser_z_short: 0.0 * /amcl/max_particles: 3000 * /amcl/min_particles: 500 * /amcl/odom_alpha1: 0.1 * /amcl/odom_alpha2: 0.1 * /amcl/odom_alpha3: 0.1 * /amcl/odom_alpha4: 0.1 * /amcl/odom_alpha5: 0.1 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: diff * /amcl/recovery_alpha_fast: 0.0 * /amcl/recovery_alpha_slow: 0.0 * /amcl/resample_interval: 1 * /amcl/save_pose_rate: 0.5 * /amcl/transform_tolerance: 0.2 * /amcl/update_min_a: 0.5 * /amcl/update_min_d: 0.2 * /amcl/use_map_topic: True * /clear_costmaps/delay_seconds: 15 * /comandar_joy_node/scale_angular: 0.8 * /comandar_joy_node/scale_linear: 0.25 * /ekf_localization_node_odom2base/base_link_frame: base_link * /ekf_localization_node_odom2base/frequency: 50 * /ekf_localization_node_odom2base/imu0: /imu * /ekf_localization_node_odom2base/imu0_config: [False, False, Fa... * /ekf_localization_node_odom2base/imu0_differential: False * /ekf_localization_node_odom2base/map_frame: map * /ekf_localization_node_odom2base/odom0: /odom * /ekf_localization_node_odom2base/odom0_config: [False, False, Fa... * /ekf_localization_node_odom2base/odom0_differential: False * /ekf_localization_node_odom2base/odom_frame: odom * /ekf_localization_node_odom2base/publish_tf: True * /ekf_localization_node_odom2base/two_d_mode: True * /ekf_localization_node_odom2base/world_frame: odom * /joy_node/autorepeat_rate: 5.0 * /laser_filter/scan_filter_chain: [{'type': 'LaserS... * /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0 * /move_base/TrajectoryPlannerROS/acc_lim_x: 0.1 * /move_base/TrajectoryPlannerROS/acc_lim_y: 0 * /move_base/TrajectoryPlannerROS/controller_frequency: 5 * /move_base/TrajectoryPlannerROS/escape_vel: -0.18 * /move_base/TrajectoryPlannerROS/heading_lookahead: 1 * /move_base/TrajectoryPlannerROS/holonomic_robot: False * /move_base/TrajectoryPlannerROS/max_vel_theta: 0.4 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.25 * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4 * /move_base/TrajectoryPlannerROS/min_vel_theta: -0.4 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.1 * /move_base/TrajectoryPlannerROS/planner_frequency: 0.2 * /move_base/TrajectoryPlannerROS/sim_granularity: 0.05 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.3 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 1.5 * /move_base/controller_frequency: 6.0 * /move_base/global_costmap/allow_unknown: False * /move_base/global_costmap/cost_scaling_factor: 10.0 * /move_base/global_costmap/footprint: [[0.31, 0.25], [-... * /move_base/global_costmap/global_frame: /map * /move_base/global_costmap/inflation_radius: 1.35 * /move_base/global_costmap/laser_scan_sensor/clearing: True * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/laser_scan_sensor/marking: True * /move_base/global_costmap/laser_scan_sensor/observation_persistence: 0.0 * /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser * /move_base/global_costmap/laser_scan_sensor/topic: /scan * /move_base/global_costmap/observation_sources: laser_scan_sensor * /move_base/global_costmap/obstacle_range: 2.5 * /move_base/global_costmap/publish_frequency: 1.0 * /move_base/global_costmap/raytrace_range: 3.0 * /move_base/global_costmap/robot_base_frame: base_link * /move_base/global_costmap/static_map: True * /move_base/global_costmap/track_unknown_space: True * /move_base/global_costmap/transform_tolerance: 4 * /move_base/global_costmap/update_frequency: 1.0 * /move_base/local_costmap/allow_unknown: False * /move_base/local_costmap/cost_scaling_factor: 10.0 * /move_base/local_costmap/footprint: [[0.31, 0.25], [-... * /move_base/local_costmap/global_frame: /map * /move_base/local_costmap/height: 4.0 * /move_base/local_costmap/inflation_radius: 1.35 * /move_base/local_costmap/laser_scan_sensor/clearing: True * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/laser_scan_sensor/marking: True * /move_base/local_costmap/laser_scan_sensor/observation_persistence: 0.0 * /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser * /move_base/local_costmap/laser_scan_sensor/topic: /scan * /move_base/local_costmap/observation_sources: laser_scan_sensor * /move_base/local_costmap/obstacle_range: 2.5 * /move_base/local_costmap/publish_frequency: 2.0 * /move_base/local_costmap/raytrace_range: 3.0 * /move_base/local_costmap/resolution: 0.025 * /move_base/local_costmap/robot_base_frame: base_link * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_map: True * /move_base/local_costmap/track_unknown_space: True * /move_base/local_costmap/transform_tolerance: 4 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 4.0 * /rosdistro: kinetic * /rosversion: 1.12.7 NODES / amcl (amcl/amcl) clear_costmaps (simple_navigation_goals/clear_costmaps) comandar_joy_node (comandar_joy/comandar_joy_node) ekf_localization_node_odom2base (robot_localization/ekf_localization_node) encoder_odom_node (encoder_odom/encoder_odom_node) global_loc (rosservice/rosservice) joy_node (joy/joy_node) laser_filter (laser_filters/scan_to_scan_filter_chain) map_server (map_server/map_server) move_base (move_base/move_base) mux_cmd_vel (topic_tools/mux) neato_laser_publisher (xv_11_laser_driver/neato_laser_publisher) rosserial_enc_node (rosserial_python/serial_node.py) rosserial_imu_node (rosserial_python/serial_node.py) tf_imu (tf/static_transform_publisher) tf_neato (tf/static_transform_publisher) auto-starting new master process[master]: started with pid [743] ROS_MASTER_URI=http://10.42.0.1:11311 setting /run_id to a276a068-ffcc-11e7-a672-b827ebd25c92 process[rosout-1]: started with pid [763] started core service [/rosout] process[rosserial_enc_node-2]: started with pid [790] process[rosserial_imu_node-3]: started with pid [791] process[encoder_odom_node-4]: started with pid [792] process[ekf_localization_node_odom2base-5]: started with pid [793] process[tf_neato-6]: started with pid [802] process[tf_imu-7]: started with pid [822] process[neato_laser_publisher-8]: started with pid [839] process[laser_filter-9]: started with pid [858] process[joy_node-10]: started with pid [871] process[comandar_joy_node-11]: started with pid [882] process[map_server-12]: started with pid [895] process[amcl-13]: started with pid [906] process[move_base-14]: started with pid [916] process[mux_cmd_vel-15]: started with pid [938] process[clear_costmaps-16]: started with pid [954] process[global_loc-17]: started with pid [968] [ INFO] [1516664012.012990431]: Opened joystick: /dev/input/js0. deadzone_: 0.050000. [ INFO] [1516664012.825227462]: advertising [INFO] [1516664014.784336]: ROS Serial Python Node [INFO] [1516664014.822275]: ROS Serial Python Node [ INFO] [1516664014.836192252]: Subscribed to map topic. [INFO] [1516664014.909306]: Connecting to /dev/ttyACM1 at 57600 baud [INFO] [1516664014.939798]: Connecting to /dev/ttyACM0 at 57600 baud ERROR: Service [/move_base/clear_costmaps] is not available. [ INFO] [1516664016.056148242]: Received a 2000 X 2000 map @ 0.025 m/pix [INFO] [1516664017.093658]: Note: publish buffer size is 100 bytes [INFO] [1516664017.098933]: Setup publisher on /enc_Int32 [std_msgs/Int32MultiArray] [INFO] [1516664017.199318]: Note: subscribe buffer size is 100 bytes [INFO] [1516664017.203235]: Setup subscriber on cmd_vel [geometry_msgs/Twist] [INFO] [1516664017.573205]: Note: publish buffer size is 1024 bytes [INFO] [1516664017.580501]: Setup publisher on imu [sensor_msgs/Imu] [ INFO] [1516664017.733794439]: Initializing likelihood field model; this can take some time on large maps... Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp [ WARN] [1516664019.463331053]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101917 timeout was 0.1. Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp [ WARN] [1516664024.464761415]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101563 timeout was 0.1. Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp [ INFO] [1516664026.999812925]: Done initializing likelihood field model. [ INFO] [1516664027.003602717]: Initializing with uniform distribution [ INFO] [1516664027.088936883]: Global initialisation done! Unhandled exception in thread started by sys.excepthook is missing lost sys.stderr Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp [global_loc-17] process has finished cleanly log file: /home/pi/.ros/log/a276a068-ffcc-11e7-a672-b827ebd25c92/global_loc-17*.log Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp

Hello, I am trying to create a customized color scheme for map display with rviz. I see that 3 schemes are supported: map, costmap, and raw. However, is there a way for adding more color schemes without changing the source code and rebuilding? perhaps through the configuration file? Thanks.

Hi I am using two `ekf_localization_nodes` and one `navsat_transform_node` from `robot_localization` package. One `ekf_localization_node` is used to fuse wheel encoder and imu data, the other one is used to fuse wheel encoder, imu and GPS data (output from the `navsat_transform_node`). So far this setup has been working more or less fine. My question is this: When the robot initialises, it takes the first GPS data received and set that as the origin of the `map_frame` in rviz. Because previously I have just been looking at the trajectories of the GPS data and the `odometry/filtered_map`, there wasn't a need to use a map. However, currently I would like to map this trajectory onto a map to see if the trajectory is correct. Assuming that I already have a .pgm map of the location, how can I map the starting position of the robot (aka the first GPS data) onto this map? I can't fix a starting point on the map itself as well because everytime the first GPS data will be different. Is there a way to automatically map the first GPS data to the correct position on the .pgm map? Thanks in advance.

I am learning about and experimenting with the Navigation stack. We have a Robotis Turtlebot3 and soon will have a ClearPath Turtlebot2. But the class has 9 students. Does anyone have a guide, writeup, wikipost with worked out process, including what turtle sim to use, what visualizer to use, and so on. I've poked around, combining part of one process with a part of another one and I am slowly getting results but maybe there's a better guide. Thanks!

My purpose is executing navigation to my handmade robot. I have 2 PCs. I'd like to see the rviz and set the goal position from host PC remotely. And I 'd like to control remote PC on the robot to execute amcl.launch. I have already executed amcl.launch remotely on the remote PC, but I couldn't see the map of rviz from host PC. I thought that it looks like rviz didn't get the information of remote PC. Therefore,I executed "rqt_graph"on my host PC, then I could see some nodes. From this result , I found that my host PC and remote PC are capable of communicating each other. Please let me know how to see the rviz from my host PC?

1.when i use gmapping to create a map, it show no map received. This is my launch . 2 I can control the robot to move in gazebo by teleop_twist_keyboard ,but the robot doesn't move in rviz at the same time. Please help me.

Hi there, I tried to run 5 robots in a map to explore the map. In rviz the positon of the merger_map is different from the others. Here is the map_merge launch file. Could you help me please?

So far no one has answered to this question. I have the following `` part of my roslaunch file that calls machine names `host` and calls the package `rviz`.

[link text](https://www.youtube.com/watch?v=5diCT5C4VY4&feature=youtu.be) hey the above , attached link is to a robot that i am working on , its shaking inside the RVIZ environment . Where should i look to solve this problem ? My odom topic is being published properly , but the position keeps decrementing on a regular basis (I suspect it might be some correction node such as EKF generating unfavorable values ) pose: pose: position: x: 0.421485137715 y: 3.11883547189 z: 0.0 

My understanding: STDR provides a simulator of a 2d Robot and it's environment (map). Which means that it listens for variations of cmd_vel and moves an imaginary robot on a simulated field. The field can have obstacles, and this imaginary robot will not be able to power through the walls. Presumably you can cmd_vel all you like and your odom will tell you that you've not moved. Separate but connected, STDR also lets me visualize the map and the robot to allow me to see what's going on. And I can create more robots and give them different sensors all that will publish on the expected Topics. Did I get that right? So my question is then: Why does Stdr have a GUI and still sometimes we use it with RViz? In other words, why would you need RViz when using Stdr? I am sure this question comes from my not quite understanding what RViz does and it's relationship with other packages. ### Followup based on response below: "It's just that it's a nice tool to render the dataflows running through your application in context (ie: their spatial and temporal relationships) in a 3D world." -- I thought RViz just did 2d? In general I am not exactly clear yet what RViz displays that STDR gui does not. The map is from the same /map service and the robots position, orientation, and sensor displays are the same aren't they? Thanks!

Hello! I write a package for a robot, that has servo-motors. How node (from my package) pulbishes JointState msgs, and i can see the visualization of my robot in rviz. I want to use a ssc32 servo-controller, with which you can set not only the state, but also the speed of single displacement. I find a [ros ssc32 driver](https://github.com/smd-ros-devel/lynxmotion_ssc32), and this driver takes JointTrajectory like input messages. Is there a way to display moving model of my robot (real robot not exist yet) in rviz with using JointTrajectory? Maybe I should use gazebo simulator? Of course, I can write a converter JointTrajectory -> JointState, but there can be a cleaner way? I use ros-kinetic and ubuntu 16.04.

- Fresh Ros Kinetic install on Ubuntu 16.04 (installed today) - Try to launch RVIZ and get this error:> rviz: symbol lookup error:> /opt/ros/kinetic/lib/librviz.so:> undefined symbol:> _ZNK9QTreeView16viewportSizeHintEv Things i've tried (that have not worked): - Rebooting - sudo apt dist-upgrade - googling this problem - Deleting, and remaking my catkin workspace. Possibly relevant info: This is a pretty standard installation of Ubuntu + ROS and the system install is pretty fresh as well. Only non-standard stuff I've done so far is I've installed nVidia video drivers to make a 1080 TI video card work and I've updated the kernel to version 4.15.2 to resolve a system clock drift issue with i9 processors.

Hello guys! I have a problem in displaying odometry in Rviz. I use robot localization to fuse odometry from wheels and visual odometry from Kinect. When I turn on visualization in Rviza all screen seems to be yellow. And after several moves it totaly paints all with yellow colour.  I disabled tf from wheel odometry and from visual odometry. Only robot_localization provides tf with odom. Here is my robot_localization launch. [true, true, false, false, false, true, false, false, false, false, false, true, false, false, false][false, false, false, false, false, false, true, true, false, false, false, false, false, false, false]--> And in addition odom that I get is very inaccurate. So what's problem? Why everything is yellow?

Hi! I'm trying to make a map with hector and my problem is about TF because although I use 2D pose estimate, after a short time the axes will move suddenly. My launch file has this part inside: The node that I use is given by rosrun tf static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms Where am I doing wrong? Also if I rotate my LIDAR a bit faster, the TF can not follow the movement, so what parameter I have to change in launch file? Thank you all.

Hello. I think that it is pretty rudimentary, but I will ask you a question because I can not solve it by trial and error. I am writing a program that outputs colored point clouds. So, I wrote the program as below, but on rviz a white point clouds is output. I changed the rgb value to various values, but there was no change. What should I do? Thank you. #include #include #include #include typedef pcl::PointCloud PointCloud; int main(int argc, char** argv) { ros::init (argc, argv, "pub_pcl"); ros::NodeHandle nh; ros::Publisher pub = nh.advertise ("points2", 1); ros::Rate loop_rate(1); while (nh.ok()) { PointCloud::Ptr msg (new PointCloud); msg->header.frame_id = "/my_frame"; pcl_conversions::toPCL(ros::Time::now(), msg->header.stamp); msg->height = 480; msg->width = 640; msg->points.resize(480*640); for(int n=0; n<480; ++n) { for(int m=0; m<640; ++m) { msg->points[n*480+m].x = 1.0; msg->points[n*480+m].y = 0.01*(m-320); msg->points[n*480+m].z = 0.01*n; msg->points[n*480+m].r = 200; msg->points[n*480+m].g = 0; msg->points[n*480+m].b = 0; msg->points.push_back (msg->points[n*480+m]); } } pcl_conversions::toPCL(ros::Time::now(), msg->header.stamp); pub.publish (msg); ros::spinOnce (); loop_rate.sleep (); } }

I am trying to load an underwater robot mesh in RViz. Because I could not do this with a .osg file, I converted it to .dae with Blender. Even though I have done that, RViz is still not able to load it (it doesn't even locate it although, of course, the file is there). The file is called *newestexport.dae*. The error is the following: >> [ERROR] [1518621585.493626689]: Could not load resource> [robot/nessie/newestexport.dae]:> Unable to open file> "robot/nessie/newestexport.dae".> [ERROR] [1518621585.493921577]: Could> not load model> 'robot/nessie/newestexport.dae' for> link 'base_link': OGRE> EXCEPTION(6:FileNotFoundException):> Cannot locate resource> robot/nessie/newestexport.dae in> resource group Autodetect or any other> group. in> ResourceGroupManager::openResource at> /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp> (line 756) Also, *Meshlab* and *Blender* are able to open the mesh without any problem. The name of the file is correct. So that is discarded. Any thoughts? EDIT: I show the .URDF file that calls the mesh: > -->>>>>> name="base_link_to_nessie_base_link"> type="fixed">>>>>>>>>>>>>>>>> Thank you.

Hello I am trying to implement a GUI (using C++ and QT) to control my robot. I would like to have a simulation of my robot to be part of the GUI so that I can first move my robot on the simulation (using my GUI controls) and see if the move is collision-free and then move the real robot. I can run my robot's simulation in RViz and move my robot. Now I would like to "embed" what I see in RViz (as the simulation of my robot) into my GUI application as a QWidget. I know [this tutorial](http://docs.ros.org/indigo/api/librviz_tutorial/html/index.html) on librviz, however this tutorial is too simplistic as it only adds an empty grid into custom C++ GUI app but does not implement any robot visualization/interaction. Can you suggest any better documentation or example projects that I can dig into? Any help or suggestion would be very much appreciated. Thanks in advance!

Hello guys, I'm trying to import a collada file into rviz, it has diffuse and specular maps embeded, but not the normal map, so I'm asking it's possible to apply the normal map manually Thank you

What does the Fixed Frame mean in rviz?