英文:
ros2 rviz Fixed Frame [map] does not exist" appears in the global status. How can I solve this?
问题
我正在尝试ROS2上的导航2教程。
按照官方文档中的描述安装ROS 2二进制包。
使用您的操作系统的软件包管理器安装Nav2包。
sudo apt install ros-<ros2-distro>-navigation2
sudo apt install ros-<ros2-distro>-nav2-bringup
安装Turtlebot 3包（Humble和更早版本）。
sudo apt install ros-<ros2-distro>-turtlebot3-gazebo
运行示例：
- 启动带有GUI的终端。
- 设置关键环境变量。
source /opt/ros/<ros2-distro>/setup.bash
export TURTLEBOT3_MODEL=Waffle
GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models
在同一终端中运行：
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
我以这种方式打开rviz，但全局状态中出现错误 "For frame [ ]: Fixed Frame [map] does not exist"。如何解决这个问题？
英文:
I was trying the navigation2 tutorial on ros2.
Install the ROS 2 binary package as described in the official documentation.
Install the Nav2 package using your operating system's package manager.
sudo apt install ros-<ros2-distro>-navigation2
sudo apt install ros-<ros2-distro>-nav2-bringup
Install the Turtlebot 3 package (Humble and earlier).
sudo apt install ros-<ros2-distro>-turtlebot3-gazebo
Running the sample¶
Launch Terminal with GUI
Set key environment variables.
Source /opt/ros/<ros2-distro>/setup.bash
Export TURTLEBOT3_MODEL=Waffle
import GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models
In the same terminal run:
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
I open rviz in this way, but the error "For frame [ ]: Fixed Frame [map] does not exist" appears in the global status. How can I solve this?
答案1
得分: 1
两件事可能有遗漏：
您必须将机器人本地化到初始位置。为此，请在RVIZ中点击pose estimate的绿色箭头，并将其放置在地图上。
其次，可能您在RVIZ中查看了错误的坐标系，world_frame应为“map”。
英文:
Two things may be missing:
You have to localize the robot with an intial position. For this click the Green arrwow for pose estimate in RVIZ and place it on the map.
Second, maybe your are viewing the wrong frame in RVIZ, the world_frame has to be "map".
答案2
得分: 1
你需要点击"2D Pose Estimate"来初始化位置。查看图片描述
英文:
you need click "2D Pose Estimate" to initialize the position.enter image description here
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