When using rviz to view relevant coordinate information, you may encounter No tf data. Actual error: Fixed Frame [world] does not exist, the main reason is that there is no world coordinate system in the TF tree. The solution is to let rviz know where the world coordinate system is. You can manually publish using the following command

rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map world 5

2. nvalid argument “/world” passed to canTransform argument source_frame in tf2 frame_ids cannot start with a ‘/’ like

After the first problem is solved, another problem may appear Invalid argument "/world" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: as shown in the figure:

this problem is mainly because “/ world” is used in the release code and “world” is used in our release It may be good to recompile the code from “/world” to “world”