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_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.

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.

• 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. Dec 22 '16 at 22:41