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I´d suspect that the frame_id you use is different from the one used when using the hokuyo_driver, as the transform error says that there is no connection from the laser to the base_frame. If you´re sure you didn´t change any other parts of your robot system, doing a "rostopic echo" on your scans and comparing the output for both the hokuyo_driver and your own driver should show you the difference (if any). If at all possible, I´d suggest using the existing driver however.