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You have to publish tf data for your fake robot that moves the frame of the sensor data (for example "lidar_frame") in relation to another frame (for example "world"). If you then set your "Fixed Frame" in rviz to "world", you should see your lidar_frame moving and lidar data rendered as you intended. The easiest way to do that is to have a robot with a localization system which automatically generates the required tf data :) To fake things, you could make a small cpp or Python node that uses a TransformBroadcaster as described in the tf broadcaster tutorial.