Forums Niryo One Troubleshooting Problems using rviz / missing link transformations Reply To: Problems using rviz / missing link transformations

jd
Participant
Post count: 5

Using rqt_console I figured out that after calling
roslaunch niryo_one_bringup desktop_rviz_simulation.launch
I run into the following warning (although it may be that this is nevertheless ok):
Node: /rviz
Time: 14:13:22.999442236 (2019-03-08)
Severity: Warn
Published Topics: /goal, /initialpose, /rosout

The STL file ‘package://niryo_one_description/meshes/v2/stl/arm_link.stl’ is malformed. It starts with the word ‘solid’, indicating that it’s an ASCII STL file, but it does not contain the word ‘endsolid’ so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.

Location:
/tmp/binarydeb/ros-kinetic-rviz-1.12.16/src/rviz/ogre_helpers/stl_loader.cpp:STLLoader::load:119

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The first TF-fail comes from the niryo_one_commander-node:

Node: /niryo_one_commander
Time: 14:13:24.310715913 (2019-03-08)
Severity: Info
Published Topics: /niryo_one/commander/robot_action/cancel, /niryo_one/commander/robot_action/feedback, /niryo_one/commander/robot_action/goal, /niryo_one/commander/robot_action/result, /niryo_one/commander/robot_action/status, /niryo_one/hardware_status, /niryo_one/joystick_interface/is_enabled, /niryo_one/learning_mode, /niryo_one/max_velocity_scaling_factor, /niryo_one/robot_state, /niryo_one/steppers_reset_controller, /niryo_one/tool_action/cancel, /niryo_one/tool_action/feedback, /niryo_one/tool_action/goal, /niryo_one/tool_action/result, /niryo_one/tool_action/status, /niryo_one_follow_joint_trajectory_controller/command, /niryo_one_follow_joint_trajectory_controller/follow_joint_trajectory/goal, /niryo_one_follow_joint_trajectory_controller/follow_joint_trajectory/result, /rosout, /tf, /tf_static

TF fail

Location:
niryo_one_robot_state_publisher.py:get_robot_pose:48

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