How to let Laserscan message move with base_link?
I have a frame named /world ,and I got laserscan device made by myself,I publich laserscan massage and it's frame_id is laser. then I use tf
transform.setOrigin(tf::Vector3(1,0,0)); tf::Quaternion q; q.setRPY(k,0,0); k=k+0.1; transform.setRotation(q); br.sendTransform(tf::StampedTransform(transform,ros::Time::now(),"world","laser"));
I want laser_scan message show in fixed frame /world. tf tree shows correct,but laserScan point cloud doesn't show..
Asked by bailiqun on 2016-01-21 09:31:03 UTC
Comments
What do you mean with "laser_scan message show in fixed frame /world"? Show it in RViz? And what do you mean with "LaserScan point cloud doesn't show"? Doesn't show in RViz? Shows but not correct? Sorry, it's not very clear what do you wwant to do and what's not working
Asked by jorge on 2016-01-21 11:36:07 UTC
I'm so sorry , I did a laser scan device ,and I write a driver node to send Laserscan massage whitch frame_id is /laser, then I want this laser massage rotated pitch angle,so I write a TF node to transfrom from frame /world to /laser, In rviz,I set fixed frame to /world,I saw frame /laser rotated
Asked by bailiqun on 2016-01-22 03:43:31 UTC