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I found the solution to the problem and wanted to share. The source of the problem was using v-rep simulation environment to publish point cloud data. I used the publisher “simros_strmcmd_get_depth_sensor_data” in v-rep to publish PointCloud2 data to ROS. The current version of v-rep publishes the frame_id of the header of the published PointClouad2 message in ROS with a preceding “/”. This was compatible with tf, but is not compatible with tf2 standard since there was a change in tf2, that frame_ids cannot start with an “/” anymore. Therefore, there will be a problem in ROS if we try to apply tf2 to the published data of “simros_strmcmd_get_depth_sensor_data”. I managed to debug the “simros_strmcmd_get_depth_sensor_data” source file so that it would publish PointCloud2 with a frame_id that does not contain a preceding "/". More detail on the debugging is provided here: http://www.forum.coppeliarobotics.com/viewtopic.php?f=5&t=6188