How to add pointcloud to existing tf?

Hello,

I have created a new pointcloud after processing it. I convert ROS message to PCL, and then back to ROS message before publishing.

I am unable to view the pointcloud in rviz. I am getting error as For frame []: Frame [] does not exist

However, when I play rosbag, rviz does display the pointcloud with reference to world

How should I link the pointcloud to any of the frames with known values of quaternion and eigen for rotation and translation?

Thanks in advance.

Asked by SS6141 on 2018-10-31 06:15:28 UTC

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Can you give us at least an outline of the code in which you publish the PointCloud message? I suspect you are not filling the frame_id inside header of the PointCloud message.

Asked by dhindhimathai on 2018-10-31 07:55:51 UTC

How to add pointcloud to existing tf?

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