1、问题描述
在第二章中搭建双轮机器人
<?xml version="1.0"?>
<robot name="dd_robot">
<!-- base link-->
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.5 0.5 0.25"/>
</geometry>
</visual>
</link>
<!-- Right Wheel-->
<link name="right_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.570795 0.0 0.0"/>
<geometry>
<cylinder radius="0.2" length="0.1"/>
</geometry>
</visual>
</link>
<joint name="joint_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="right_wheel"/>
<origin xyz="0 -0.30 0.0" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 1 0.0"/>
</joint>
<!-- Left Wheel-->
<link name="left_wheel">
<visual>
<origin xyz="0 0 0" rpy="1.570795 0.0 0.0"/>
<geometry>
<cylinder radius="0.2" length="0.1"/>
</geometry>
</visual>
</link>
<joint name="joint_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="left_wheel"/>
<origin xyz="0 0.30 0.0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
</robot>
使用URDF自搭建双轮小车时出现如下问题
No transform from [left_wheel] to [base_link]
No transform from [right_wheel] to [base_link]
如图所示
2、原因与解答
launch一有处错误
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
改为
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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