各位朋友们大家好，我是一位刚接触UArm不久的新手，在学习使用ROS控制UArm机械臂时遇到了一些问题。
机械臂型号为swiftPro，固件已刷到官方最新版，使用Ubuntu16.04系统，ROS版本为kinetic，以ROS wiki官网的sudo apt-get install ros-kinetic-desktop-full形式安装，参照https://github.com/uArm-Developer/SwiftproForROS上的README步骤试图运行roslaunch swiftpro display.launch指令时，RViz报错：
Fixed Frame
Fixed Frame [map] does not exist
此外，终端显示：
[ERROR] [1506389935.554633158]: Inverse kinematic is wrong
终端完整显示如下：
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
运行roslaunch swiftpro control.launch等其他命令也是无法显示模型。
恳请予以解答，非常感谢各位。
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