"base_link" passed to lookupTransform argument target_frame does not exist.

[binarywolff]

Hi everybody,

I'd like to show my robot simulation on a web application (using Flask) and I followed the instructions of the next tutorial: https://wiki.ros.org/ros3djs/Tutorials/VisualizingAURDF.

The 2D map visualization works fine (https://wiki.ros.org/ros3djs/Tutorials/VisualizingAMap) while the URDF visualization gives me an error when i run:

rosrun tf2_web_republisher tf2_web_republisher

The console error is:

"base_link" passed to lookupTransform argument target_frame does not exist. 

The browser console gives me the error:

error { target: XMLHttpRequest, isTrusted: true, lengthComputable: false, loaded: 0, total: 0, srcElement: XMLHttpRequest, currentTarget: XMLHttpRequest, eventPhase: 2, bubbles: false, cancelable: false, … }

ros3d.min.js:5:117115

    onError https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js:5
    load https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js:1
    (Async: EventListener.handleEvent)
    load https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js:1
    load https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js:5
    dae https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js:5
    Bs https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js:5
    _c https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js:12
    UrdfClient https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js:12
    get https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    callService https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    o https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    emit https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    s https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    o https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    onmessage https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    (Async: EventHandlerNonNull)
    connect https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    l https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js:1
    init http://127.0.0.1:8000/urdf:22
    onload http://127.0.0.1:8000/urdf:1

The complete browser console message is:

Connection to websocket server closed. [map:72:15](http://127.0.0.1:8000/map)
GET
http://127.0.0.1:8000/home/dario/catkin_ws/src/ros3d.js
[HTTP/1.1 404 NOT FOUND 83ms]

The script from “https://robotwebtools.github.io/ros3djs/” was loaded even though its MIME type (“text/html”) is not a valid JavaScript MIME type.
[map](http://127.0.0.1:8000/map)
GET
http://127.0.0.1:8000/js/ColladaLoader.js
[HTTP/1.1 404 NOT FOUND 22ms]

A resource is blocked by OpaqueResponseBlocking, please check browser console for details. [ros3djs](https://robotwebtools.github.io/ros3djs/)
Source map error: NetworkError when attempting to fetch resource.
Resource URL: https://unpkg.com/eventemitter3@latest/dist/eventemitter3.umd.min.js
Source Map URL: eventemitter3.umd.min.js.map

GET
http://127.0.0.1:8000/home/dario/catkin_ws/src/ros3d.js
[HTTP/1.1 404 NOT FOUND 19ms]

Loading failed for the <script> with source “http://127.0.0.1:8000/home/dario/catkin_ws/src/ros3d.js”. [map:50:50](http://127.0.0.1:8000/map)
GET
http://127.0.0.1:8000/js/ColladaLoader.js
[HTTP/1.1 404 NOT FOUND 12ms]

Loading failed for the <script> with source “http://127.0.0.1:8000/js/ColladaLoader.js”. [map:51:35](http://127.0.0.1:8000/map)
THREE.WebGLRenderer 89 2 [ros3d.min.js:1:291584](https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js)
Connected to websocket server. [map:64:15](http://127.0.0.1:8000/map)
THREE.Loader: .extractUrlBase() has been deprecated. Use THREE.LoaderUtils.extractUrlBase() instead. 10 [ros3d.min.js:5:28543](https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js)
error { target: XMLHttpRequest, isTrusted: true, lengthComputable: false, loaded: 0, total: 0, srcElement: XMLHttpRequest, currentTarget: XMLHttpRequest, eventPhase: 2, bubbles: false, cancelable: false, … }

And my html file is:

% extends 'base.html' %}

{% block header %}
  <h2>{% block title %}Map{% endblock title %}</h2>
{% endblock header %}

{% block content %}
<body onload="init()"
  <div id="map"></div>
  <div id="urdf"></div>
</body>


<script src="https://cdn.jsdelivr.net/npm/[email protected]/lib/eventemitter2.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/[email protected]/build/three.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/[email protected]/build/ros3d.min.js"></script>

<script src="https://robotwebtools.github.io/ros3djs/"></script>


<script src="https://unpkg.com/eventemitter3@latest/dist/eventemitter3.umd.min.js"></script>


<script src="https://cdn.jsdelivr.net/npm/[email protected]/build/three.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/[email protected]/lib/eventemitter2.js"></script>
<script src="https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.js"></script>

<script src="/home/dario/catkin_ws/src/ros3d.js"></script>
<script src="js/ColladaLoader.js"></script>




<script type="text/javascript">

  function init(){
    var ros = new ROSLIB.Ros({
      url : 'ws://localhost:9090'
    });
  
    ros.on('connection', function() {
      console.log('Connected to websocket server.');
    });
  
    ros.on('error', function(error) {
      console.log('Error connecting to websocket server: ', error);
    });
  
    ros.on('close', function() {
      console.log('Connection to websocket server closed.');
    });

    // Create the main viewer.
    var viewer = new ROS3D.Viewer({
      divID : 'map',
      width : 800,
      height : 600,
      antialias : true
    });

    // Setup the map client.
    var gridClient = new ROS3D.OccupancyGridClient({
      ros : ros,
      rootObject : viewer.scene
    });

    // Create the main viewer.
    var viewer = new ROS3D.Viewer({
      divID : 'urdf',
      width : 800,
      height : 600,
      antialias : true
    });

    // Add a grid.
    viewer.addObject(new ROS3D.Grid());

    // Setup a client to listen to TFs.
    var tfClient = new ROSLIB.TFClient({
      ros : ros,
      angularThres : 0.01,
      transThres : 0.01,
      rate : 10.0
    });

    // Setup the URDF client.
    var urdfClient = new ROS3D.UrdfClient({
      ros : ros,
      tfClient : tfClient,
      path : 'localhost:8000/dsr_description/meshes/m1013/MF1013_0_0.dae',
      rootObject : viewer.scene,
      loader : ROS3D.COLLADA_LOADER_2
    });
    
  }
</script>
{% endblock content %}

Do you have any idea of where the error could be?

Thank you very much.

I'm using:

• ROS Noetic
• Ubuntu 20.04