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Rvizエラー:For frame [ ]: Fixed Frame [map] does not exist

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自作したIMUパッケージを使用して、sensor_msgs/Imuトピックを送信しRviz上で確認しようとしたところ以下のエラーが出た。
Screenshot 2018-07-25 13:41:46.png

解決策

terminalを開いて、static_transform_publisherを起動することで解決できる。

$ rosrun tf static_transform_publisher 0 0 0 0 0 0 map frame 100

# 書式はstatic_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
# period_in_msは100が推奨されている。

参考

static_transform_publisher
参考

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