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I am working on a differential drive robot with two motor wheels with encoders and caster wheels. The robot also has an Intel RealSense depth camera.

When I launch RVIZ: The Global option > Fixed frame is set to Base_link and shows all the transforms for the differential driver nodes. But an error appears for the Depth camera nodes with message saying:

No transform from Camera_depth_frame to baselink
No transform from Camera_depth_optical_frame to baselink
No transform from Camera_link to baselink
No transform from Camera_rgb_frame to baselink

If I change the Global option > fixed frame to Camera_link, I can see all the transforms for the depth camera but now the differential drive transforms are not available

Hope you can help.

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You need to tell ROS the relationship between the camera frame the robot base. If you have a URDF model of your robot, add the Camera_link to the model and link it to the base.

If you don't have a URDF model, I think you can broadcast the transform yourself. See this tutorial.

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  • $\begingroup$ I agree with 'hammer'. If you already have a URDF file for your robot you can just add a description to it that defines the relative location of the existing links and joints. Follow this example that uses a Kinect. answers.ros.org/question/9138/… Good luck. $\endgroup$
    – Duncan Iglesias
    Dec 22 '16 at 22:41

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