nav2_bringup: Multi robot sim - camera rgb frame link undefined in model #3135
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 22.04
- ROS2 Version:
- Main
- Version or commit hash:
- DDS implementation:
- Default in ROS2 Humble
Steps to reproduce issue
ros2 launch nav2_bringup multi_tb3_simulation_launch.py
Expected behavior
Multi robot simulation launches properly without errors
Actual behavior
Everything still works except for the following error messages noticed, which apparently can still be ignored:
[gazebo-1] [Err] [Model.cc:123] Error Code 23 Msg: FrameAttachedToGraph error, Non-LINK vertex with name [camera_rgb_joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
[gazebo-1] [Err] [Model.cc:123] Error Code 23 Msg: Graph has __model__ scope but sink vertex named [camera_rgb_joint] does not have FrameType LINK or MODEL when starting from vertex with name [camera_rgb_joint].
[gazebo-1] [Err] [Model.cc:123] Error Code 26 Msg: PoseRelativeToGraph error, Vertex with name [camera_rgb_joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
[gazebo-1] [Err] [Model.cc:123] Error Code 26 Msg: PoseRelativeToGraph frame with name [camera_rgb_joint] is disconnected; its source vertex has name [camera_rgb_joint], but its source name should be __model__.
[controller_server-21] [INFO] [1661179723.048118251] [robot2.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[gazebo-1] [Err] [Joint.cc:297] EXCEPTION: Couldn't Find Child Link[camera_rgb_frame]
I typically just remove this section of the model file for the joint from here and this resolves the error messages. If this is an acceptable solution, I can make PRs for this.