Ugo, Have you tried running this? rosrun tf view_frames evince frames.pdf Also, (and this might not be the source of the problem), but make sure that all your frames have only a single parent. That is if you publish transforms like fixed -> /srh/position/shadow_forearm srh/position/lfdistal -> /srh/position/shadow_forearm Both of these would work idividually, but publishing them together will cause a problem Ivan Dryanovski On Wed, Jun 9, 2010 at 12:51 PM, Ugo Cupcic wrote: > Hi, > > I'm having some problem displaying some /tf in rviz. I'm working on > displaying a hand in rviz. > > Here is the situation: > I have a robot_state_publisher transforming joint_datas to tf, and I can > view the model in rviz, using a frame published by the > robot_state_publisher (/srh/position/shadow_forearm). This works fine, I > see my whole hand, I can move the fingers, etc... > > I'm then publishing a fixed transform: type="static_transform_publisher" name="fixed_frame_pos_pub" args="0 0 0 > 0 0 0 fixed  /srh/position/shadow_forearm 20" /> which transforms the > /srh/position/shadow_forearm to /fixed. This fixed transform is published. > When I view this new /tf in rviz, the forearm goes to /fixed frame which > is fine, but I get errors for all the other joints saying "No transform > from [srh/position/lfdistal] to [/fixed]". The other joints are then not > displayed (no transform). > > However, the transform from shadow_forearm to fixed is published and the > transform from the rest of the joints to shadow_forearm are published as > well. > > Any ideas ? > > (I hope I was clear :S) > > Cheers, > > Ugo > > -- > Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com > Software Engineer      251 Liverpool Road > need a Hand?           London  N1 1LX       | +44 20 7700 2487 > http://www.shadowrobot.com/hand/              @shadowrobot > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >