Rviz problem

[haritsahm]

what is wrong with my rviz? there's no transform from [ ] to [body_link] and the robot display is weird. Thankyou

[kaym9n]

It looks tf message does not exist.
To make tf message need joint states messge from op3_manager. You need to execute op3_manager and check again.
If you couldn't execute op3_manager, modify robotis_op3_display.launch like below and run the launch file. (It's the method to use a fake joint_states.)

<launch>
  <param name="robot_description"
    command="$(find xacro)/xacro.py '$(find robotis_op3_description)/urdf/robotis_op3.urdf.xacro'" />

  <!-- Send fake joint values -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="TRUE"/>
    <rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
  </node>

  <!-- Combine joint values -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

  <!-- Show in Rviz   -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robotis_op3_description)/launch/op.rviz"/>

</launch>

[haritsahm]

Hi, after i execute op3_manager, the problem still exist

and here is the tf-tree

i've tried using other branch but still the robot display is weird

[kaym9n]

I'm sorry in your inconvenience.
Could you refer to this issue(ROBOTIS-GIT/ROBOTIS-OP3#6)?

[haritsahm]

i don't think the problem is the host name / subscribe topics, because when i run thormang3 or robotis op2 everything works fine. I think the problem is the link or fixed frame, and i don't really understand about rviz or urdf. thank you

[robograffitti]

My result is also missing some parts... (Fixed Frame is set to body_link)

I executed the following 2 commands:

1. $ roslaunch op3_manager op3_manager.launch
2. $ roslaunch robotis_op3_description robotis_op3_display.launch

[kaym9n]

It's my rviz screen.

I suspect this issue in terms of network and timing.
(Reference : Timing issues)
I'd recommend you to run the following instructions from the ROBOTIS-OP3 PC.

1. Connect the keyboard, mouse and monitor to OP3.

2. Kill the demo
   $ sudo service OP3-demo stop

3. Execute op3_manager
   $ roslaunch op3_manager op3_manager.launch

4. Execute robotis_op3_description
   $ roslaunch robotis_op3_description robotis_op3_display.launch

5. If it works, it's a timing issue.

[haritsahm]

i actually don't have the OP3 robot. I just want to try the rviz and gazebo, but i will try that and give the result later. Thank you so much

[kaym9n]

I understood.
We still do not fully support gazebo. I hope it will be supported soon.

[robograffitti]

@haritsahm I resolved this issue by building all the OP3 codes with catkin make. try:

$ roscd && cd ..
$ catkin_make