Problems about controlling UArm via ROS

[black-tea]

Firmware Version: Latest

Operation System: Ubuntu 16.04

uArm Controlling Method: ROS kinetic

Hello, I have some problems when I try to control UArm via ROS, and I hope that I could receive the help from here.
I have installed ROS kinetic via sudo apt-get install ros-kinetic-desktop-full, and when I tried to follow the samples as what https://github.com/uArm-Developer/SwiftproForROS README shows, entered the Command Line:
roslaunch swiftpro display.launch
I got this:
Fixed Frame
Fixed Frame [map] does not exist

and the Linux terminal showed that:

SUMMARY

PARAMETERS

• /robot_description: <?xml version="1…
• /rosdistro: kinetic
• /rosversion: 1.12.7
• /use_gui: False

NODES
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
swiftpro_read_node (swiftpro/swiftpro_read_node)
swiftpro_rviz_node (swiftpro/swiftpro_rviz_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[swiftpro_rviz_node-1]: started with pid [6514]
process[swiftpro_read_node-2]: started with pid [6515]
process[robot_state_publisher-3]: started with pid [6523]
process[rviz-4]: started with pid [6535]
[ERROR] [1506389935.554633158]: Inverse kinematic is wrong

I don’t know what happen, and I sure that the connection between UArm and PC is in the right way.
Thanks.

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[rfn123]

Hi, you have to set the fixed frame to a frame of the robot, normally it’s the Base link. And you have to add the Robot Model in Rviz to see the robot. For this, click on the Add button on the left side.

[David]

Hi, please try the following steps:
a. Add RobotModel to RViz

b. Set “Fix Frame” and “Reference Frame” to “Base”

[black-tea]

Thanks for your kindly answer, I see the model now. As a layman of ROS,there are many things that I need to learn, thanks for your patient guidance again.