Pepper机械人与Rviz的连接出现问题

问题描述

我在Rviz上使用了Pepper机器人（在Ubuntu 14.04上），但是我无法从Pepper中看到地图。我看到节点/robot_state_plublisher没有任何映射节点：

Node [/robot_state_publisher]
Publications:
* /tf [tf2_msgs/TFMessage]
* /tf_static [tf2_msgs/TFMessage]
* /rosout [rosgraph_msgs/Log]
Subscriptions:
* /joint_states [unknown type]
Services:
* /robot_state_publisher/get_loggers
* /robot_state_publisher/set_logger_level
contacting node http://victor-VirtualBox:35267/ ...
Pid: 2686
Connections:
* topic: /rosout
  * to: /rosout
 * direction: outbound
 * transport: TCPROS
* topic: /tf
 * to: /move_group
 * direction: outbound
 * transport: TCPROS
* topic: /tf
 * to: /rviz_victor_VirtualBox_2661_3724187526495212161
 * direction: outbound
 * transport: TCPROS
* topic: /tf_static
 * to: /move_group
 * direction: outbound
 * transport: TCPROS
* topic: /tf_static
 * to: /rviz_victor_VirtualBox_2661_3724187526495212161
 * direction: outbound
 * transport: TCPROS

有人知道SonarBack_frame和SonarFront_frame是否有一些话题。

如果我介绍rostopic list：

victor@victor-VirtualBox:~/catkin_ws$ rostopic list
/attached_collision_object
/camera/camera_info
/camera/image_raw
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/joint_states
/move_group/camera_info
/move_group/cancel
/move_group/display_contacts
/move_group/display_cost_sources
/move_group/display_grasp_markers
/move_group/display_planned_path
/move_group/feedback
/move_group/filtered_cloud
/move_group/filtered_cloud/compressed
/move_group/filtered_cloud/compressed/parameter_descriptions
/move_group/filtered_cloud/compressed/parameter_updates
/move_group/filtered_cloud/compressedDepth
/move_group/filtered_cloud/compressedDepth/parameter_descriptions
/move_group/filtered_cloud/compressedDepth/parameter_updates
/move_group/filtered_cloud/theora
/move_group/filtered_cloud/theora/parameter_descriptions
/move_group/filtered_cloud/theora/parameter_updates
/move_group/filtered_label
/move_group/filtered_label/compressed
/move_group/filtered_label/compressed/parameter_descriptions
/move_group/filtered_label/compressed/parameter_updates
/move_group/filtered_label/compressedDepth
/move_group/filtered_label/compressedDepth/parameter_descriptions
/move_group/filtered_label/compressedDepth/parameter_updates
/move_group/filtered_label/theora
/move_group/filtered_label/theora/parameter_descriptions
/move_group/filtered_label/theora/parameter_updates
/move_group/goal
/move_group/model_depth
/move_group/model_depth/compressed
/move_group/model_depth/compressed/parameter_descriptions
/move_group/model_depth/compressed/parameter_updates
/move_group/model_depth/compressedDepth
/move_group/model_depth/compressedDepth/parameter_descriptions
/move_group/model_depth/compressedDepth/parameter_updates
/move_group/model_depth/theora
/move_group/model_depth/theora/parameter_descriptions
/move_group/model_depth/theora/parameter_updates
/move_group/monitored_planning_scene
/move_group/motion_plan_request
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/recognized_object_array
/rosout
/rosout_agg
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full

/rviz_victor_VirtualBox_2711_1366379093461206077/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_victor_VirtualBox_2711_1366379093461206077/motionplanning_planning_scene_monitor/parameter_updates
/tf
/tf_static
/trajectory_execution_event

解决方法

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