How to tell coordinate frame of laser scans to Rviz?

I have a Omron OS32C laser scanner with me. The corresponding node publishes only scan data and no /tf data.

I have constructed a tf tree from map-> baselaser -> laser. I have put map as fixed frame and target frame as baselaser in Rviz.

But, how do I tell Rviz that laser scan readings are in laser frame? Is there a option for that in Rviz settings?

Asked by Harsh2308 on 2017-09-01 02:15:00 UTC

the scan is LaserScan msg which has the header/frame_id to specify the frame.

Asked by naveedhd on 2017-09-01 02:22:34 UTC

Yes . Thanks a lot

Asked by Harsh2308 on 2017-09-01 02:29:03 UTC