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I think you're mixing up frame_ids and topics. Can you show the output of view_frames? And what is the frame_id of the /scan topic?
What is the transform from world to kinect being published by?
| | 2 | No.2 Revision |
I think you're mixing up frame_ids and topics. Can you show the output of view_frames? And what is the frame_id of the /scan topic?
What is the transform from world to kinect being published by?
Edit:
Based on your view_frames output.
1) I believe you should set the output_frame_id to kinect_visionSensor 2) You tf tree looks like it has an extra link you should not be attaching /scan (That's the topic not the frame_id) 3) fixed_frame world should be fine 4) If you want to do SLAM vrep should not be publishing the world link (that is the job of slam) the vehicle's odometry should be publishing a transform from the base_link to the odometric frame. And then the slam will compute the transform from /odom to /world.
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