在rviz界面报错No transform from [link1] to [base_link]

运行roslaunch后在rviz界面报错No transform from [link1] to [base_link]
且显示的模型与代码预期不同。
终端界面报错：
ERROR: cannot launch node of type [ joint_ state publisher_ gui/joint_ state_ publish er_ gui]: joint_ state_ publisher_ gui

ROS path[0]=/opt/ros/kinetic/share/ros

ROS path [ 1 ]= /home/kazuho/catkin_ ws/src

ROS path [ 2 ]=/opt/ros/kinetic/share

原因：
这是因为缺少 joint_ state_ publisher_ gui功能包
解决：
输入如下命令，安装 joint_ state_ publisher_ gui功能包

sudo apt-get install ros-kinetic-joint-state-publisher-gui

安装完之后重新运行launch文件，会多出一个 joint_state_publisher 插件，如图所示：

搞定。