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There are a couple of possibilities here:

1. Something is wrong with your tf tree, and it isn't possible to transform laser data into the base frame.
2. Your laser data is being published with the wrong frame in the header.
3. Your laser data is being published with the wrong timestamp in the header.

Assuming that you laser is printing the data on the /scan topic. If you do a rostopic echo on scan you should be able to see the frame_id for your laser. rostopic echo -n 1 /scan/header/frame_id

This will give you the name of the laser frame_id. I suspect this is not scan but laser instead. Therefore, instead of having a static_transform_publisher from base_link->scan, can you do base_link->laser.

Can you paste your tf tree here? You can use: rosrun tf view_frames

Also, please check that your odom node is really working.

There are a couple of possibilities here:

1. Something is wrong with your tf tree, and it isn't possible to transform laser data into the base frame.
2. Your laser data is being published with the wrong frame in the header.
3. Your laser data is being published with the wrong timestamp in the header.

Assuming that you laser is printing the data on the /scan topic. If you do a rostopic echo on scan you should be able to see the frame_id for your laser. rostopic echo -n 1 /scan/header/frame_id

This will give you the name of the laser frame_id. I suspect this is not scan but laser instead. Therefore, instead of having a static_transform_publisher from base_link->scan, can you do base_link->laser.

Can you paste your tf tree here? You can use: rosrun tf view_frames

Also, please check that your odom node is really working.

There are a couple of possibilities here:

1. Something is wrong with your tf tree, and it isn't is not possible to transform laser data into the base frame.
2. Your laser data is being published with the wrong frame in the header.
3. Your laser data is being published with the wrong timestamp in the header.

Assuming that you laser is printing the data on the /scan topic. If you do a rostopic echo on scan you should be able to see the frame_id for your laser. rostopic echo -n 1 /scan/header/frame_id

This will give you the name of the laser frame_id. I suspect this is not scan but laser instead. Therefore, instead of having a static_transform_publisher from base_link->scan, can you do base_link->laser.

Can you paste your tf tree here? You can use: rosrun tf view_frames

Also, please check that your odom node is really working.

There are a couple of possibilities here:

1. Something is wrong with your tf tree, and it is not possible to transform laser data into the base frame.
2. Your laser data is being published with the wrong frame in the header.
3. Your laser data is being published with the wrong timestamp in the header.

Assuming that you laser is printing the data on the /scan topic. If you do a rostopic echo on scan you should be able to see the frame_id for your laser. laser.

rostopic echo -n 1 /scan/header/frame_id

/scan/header/frame_id

This will give you the name of the laser frame_id. I suspect this is not scan but laser instead. Therefore, instead of having a static_transform_publisher from base_link->scan, can you do base_link->laser.

Can you paste your tf tree here? You can use: rosrun tf view_frames

Also, please check that your odom node is really working.

There are a couple of possibilities here:

1. 
  1. Something is wrong with your tf tree, and it is not possible to transform laser data into the base frame. 2. frame.
  2. Your laser data is being published with the wrong frame in the header. 3. header.
  3. Your laser data is being published with the wrong timestamp in the header.
header.

Assuming that you laser is printing the data on the /scan topic. If you do a rostopic echo on scan you should be able to see the frame_id for your laser.

rostopic echo -n 1 /scan/header/frame_id

This will give you the name of the laser frame_id. I suspect this is not scan but laser instead. Therefore, instead of having a static_transform_publisher from base_link->scan, can you do base_link->laser.

Can you paste your tf tree here? You can use: rosrun tf view_frames

Also, please check that your odom node is really working.