rviz2 cannot see camera and lidar

[wuxiaoqiang12]

After I launched ./run_sim_g1.sh and ros2 topic list in another terminal all topic list as below:

/clicked_point
/goal_pose
/initialpose
/parameter_events
/robot0/cmd_vel
/robot0/front_cam/camera_info
/robot0/front_cam/rgb
/robot0/go2_states
/robot0/imu
/robot0/joint_states
/robot0/odom
/robot0/point_cloud2
/rosout
/tf
/tf_static

I opened rviz2 and attempted to add the camera and LiDAR data by topic. However, nothing appeared on the screen. It said Global Status: Error - Fixed Frame Frame [map] does not exist.

Could you please help me solve this problem?

There are some exception:

Exception ignored in: <function Camera.__del__ at 0x7f9c15d94ee0>
Traceback (most recent call last):
  File "/home/xqw/Research/IsaacLab-0.3.1/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py", line 139, in __del__
    for _, annotators in self._rep_registry.items():
AttributeError: 'Camera' object has no attribute '_rep_registry'
/home/xqw/miniconda3/envs/orbit/lib/python3.10/site-packages/gymnasium/core.py:297: UserWarning: WARN: env.scene to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.scene` for environment variables or `env.get_attr('scene')` that will search the reminding wrappers.
  logger.warn(

[vineef]

You'll probably need to change the Fixed Frame in rviz to robot0/base_link or something. It's the reference frame for the lidar projections.