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To solve the problem of the "fixed frame" you have to define the transformation first. Before opening rviz you have to use the tf package according to the instructions at http://wiki.ros.org/tf

tf is used to "maintains the relationship between coordinate frames in a tree structure buffered in time".

According to the instructions I am using the following command and it worked for me. rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map velodyne 100

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To solve the problem of the "fixed frame" you have to define the transformation first. Before opening rviz you have to use the tf package according to the instructions at http://wiki.ros.org/tf

tf is used to "maintains the relationship between coordinate frames in a tree structure buffered in time".

According to the instructions I am using the following command and it worked for me. me.

rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map velodyne 100

100