rviz2 未检测到 urdf 中的联合/链接组合之一，而其他 urdf 查看器却检测到

Answer 1

您必须为 urdf 文件中定义的所有关节广播您的 tf 转换。您可以使用 ROS 节点发布这些：

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import TransformStamped
from tf2_ros import TransformBroadcaster
import math

class TFBroadcaster(Node):
    def __init__(self):
        super().__init__('tf_broadcaster')
        
        # Create a transform broadcaster
        self.broadcaster = TransformBroadcaster(self)
        
        # Create a timer to publish transforms periodically
        self.timer = self.create_timer(0.1, self.broadcast_transforms)  # 10Hz
        
        # Initialize joint states (you might want to subscribe to actual joint states)
        self.slider_position = 0.0
        self.arm_angle = 0.0

    def broadcast_transforms(self):
        current_time = self.get_clock().now().to_msg()
        
        # Base link transform
        t = TransformStamped()
        t.header.stamp = current_time
        t.header.frame_id = 'world'
        t.child_frame_id = 'base_link'
        t.transform.translation.x = 1.5
        t.transform.translation.y = 1.0
        t.transform.translation.z = 0.0
        t.transform.rotation.w = 1.0
        self.broadcaster.sendTransform(t)
        
        # Slider link transform
        t = TransformStamped()
        t.header.stamp = current_time
        t.header.frame_id = 'base_link'
        t.child_frame_id = 'slider_link'
        t.transform.translation.x = -1.25 + self.slider_position  # Add slider position
        t.transform.translation.y = 0.0
        t.transform.translation.z = 0.1
        t.transform.rotation.w = 1.0
        self.broadcaster.sendTransform(t)
        
        # Arm link transform
        t = TransformStamped()
        t.header.stamp = current_time
        t.header.frame_id = 'slider_link'
        t.child_frame_id = 'arm_link'
        t.transform.translation.x = 0.25
        t.transform.translation.y = 0.0
        t.transform.translation.z = 0.15
        # Convert arm angle to quaternion (rotation around Y axis)
        t.transform.rotation.w = math.cos(self.arm_angle/2)
        t.transform.rotation.x = 0.0
        t.transform.rotation.y = -math.sin(self.arm_angle/2)  # Negative because of axis direction
        t.transform.rotation.z = 0.0
        self.broadcaster.sendTransform(t)
        
        # Camera link transform
        t = TransformStamped()
        t.header.stamp = current_time
        t.header.frame_id = 'arm_link'
        t.child_frame_id = 'camera_link'
        t.transform.translation.x = 2.0  # arm_length
        t.transform.translation.y = 0.0
        t.transform.translation.z = 0.175  # arm_radius + 0.075
        t.transform.rotation.w = 1.0
        self.broadcaster.sendTransform(t)

def main():
    rclpy.init()
    node = TFBroadcaster()
    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

启动包

ros2 run <your-package> <your-node>