No transform from[camera_color_frame] to frame world

[Akumar201]

I was calibrating the eye on base camera as mentioned in the tutorial. I think something is wrong as you can see camera marker is pointing somewhere else and base is pointing somewhere else also in moveit window.
I am using Ubunut 20.04, ROS noetic and Realsense D435

It also gives an warning No transform from [camera_color_frame] to frame[world]

The same warning is coming when doing camera in hand

launch file for calibration of xarm

`

<!-- start the Realsense435 -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch" />

<!-- start ArUco -->
<node name="aruco_tracker" pkg="aruco_ros" type="single">
    <remap from="/camera_info" to="/camera/color/camera_info" />
    <remap from="/image" to="/camera/color/image_raw" />
    <param name="image_is_rectified" value="true"/> <!-- no distortion? -->
    <param name="marker_size"        value="$(arg marker_size)"/>
    <param name="marker_id"          value="$(arg marker_id)"/>
    <param name="reference_frame"    value="camera_color_optical_frame"/>
    <param name="camera_frame"       value="camera_color_optical_frame"/>
    <param name="marker_frame"       value="camera_marker" />
</node>

<!-- start the robot -->
<include if="$(eval arg('robot_dof')==7)" file="$(find xarm7_moveit_config)/launch/realMove_exec.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="show_rviz" value="false" />
</include>
<include if="$(eval arg('robot_dof')==6)" file="$(find xarm6_moveit_config)/launch/realMove_exec.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="show_rviz" value="false" />
</include>
<include if="$(eval arg('robot_dof')==5)" file="$(find xarm5_moveit_config)/launch/realMove_exec.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="show_rviz" value="false" />
</include>

<!-- start easy_handeye -->
<include file="$(find easy_handeye)/launch/calibrate.launch" >
    <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
    <!-- eye on hand: true -->        
    <arg name="eye_on_hand" value="false" />
    <arg name="tracking_base_frame" value="camera_color_optical_frame" />
    <arg name="tracking_marker_frame" value="camera_marker" />
    <arg name="robot_base_frame" value="link_base" />
    <arg name="robot_effector_frame" value="link_eef" />

    <arg name="freehand_robot_movement" value="false" />
    <arg name="robot_velocity_scaling" value="0.1" />
    <arg name="robot_acceleration_scaling" value="0.1" />
    <arg name="move_group" value="xarm$(arg robot_dof)" />
</include>
<!-- in case rqt_easy_handeye image viewer fails to open: -->
<node name="recognition_view" pkg="image_view" type="image_view" args="image:=/aruco_tracker/result" />

`

Error while planning next move

[Akumar201]

The warnings can be removed by giving an external argument to realsense2_camera/launch/rs_camera.launch. Please go to xarm_vision/d435i_xarm_setup/launch/d435i_auto_calib.launch, and modify the part

<!-- start the Realsense435 -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch" />

as:

<!-- start the Realsense435 -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch" >
    <arg name="publish_tf" value="false" />
</include>