I am trying to get started with RViz and Gazebo Ignition and have a simple two-wheeled robot with a lidar in Gazebo. I now would like to at least see the lidar in RViz but would prefer to see the lidar and have its center move around as my robot is moving in Gazebo. At this point I have tried everything that I can think of and have Google searched for everything that seems likely. I haven't found any demos that I could get to run that could help.
In RViz, I am seeing "Fixed Frame [Warn] No tf data. Frame [world] does not exist."
What can I do to provide a frame of reference so that Rviz will not have this error and will presumably let me see the lidar? I'm assuming that it would be something that I would put in my .sdf file.
