RViz starting window shows

After runnin rosrun rviz rviz in section 9.5, RViz would show the same global status error message (fixed frame) as Fig9.9 shows, so nothing to worry about, I thought. Also it’s showing the robot right away.

The robot statu (error) shows:

No transform from [hokuyo_laser_link]
No transform from [iri_wam_link_1]

[…] and so on.
Removing the robot and re-adding it doesn’t resolve the problem. Presumably for the same reason, the following instructions don’t work.

Hello @ruediger ,

As the instructions say, you have to select iri_wam_link_footprint as the FIxed Frame in RViz.

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