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First of all, I'm not a native speaker sorry for my English, I'll try to fully demonstrate my problems. I wrote a urdf file that contains a base, four wheels, and a lidar. Everything is showing up normally as it should in Gazebo, but when I open up Rviz all my wheels will be in the center of my base, seems like the joints are somehow missing, I tried to publish joint state publisher gui to move my joints and got no luck since it's all stuck in the center. Any help is appreciated Ty.`

Gazebo
Rviz one of my wheel joint's code

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  • $\begingroup$ Welcome to Robotics Stack Exchange! Two comments: 1. It is better to paste the URDF in the text form rather than sharing a screenshot. Please note that images are not text-searchable. 2. Please share us complete information, such as which package and commands you executed. My guess is that you do not have a joint_state_publisher thus the bot can not be rendered completely. $\endgroup$
    – ravi
    Sep 4, 2023 at 9:54

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As already mentioned, it seems that your are missing the tf2 tree, which rviz needs to render your robot. You'll get this by adding robot_state_publisher to your launch file.

A tutorial of the robot_state_publisher with a python script can, e.g., be found in on docs.ros.org or in the demo repository of ros2_control or shipped with the gazebo_ros2_control_demos, what might be helpful for your setup as well.

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