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1 | initial version |
Let's examine the frames laser_scan_matcher
works with:
/base_link
world
(or sometimes odom
)The tf from the base frame to the sensor frame is assumed to be static. It should be published by a static TF publisher
The tf from the world frame to the base frame will be published by laser_scan_matcher, and will represent the moving pose of the robot in the world.
If you publish a tf from /world
to base_link
in your code, that will result in a conflict with the scan matcher, since base_link
now has two parents.
I might be able to provide more help if you describe your usage scenario and what your node is doing.
2 | No.2 Revision |
Let's examine the frames laser_scan_matcher
works with:
/base_link
world
(or sometimes odom
)The tf from the base frame to the sensor frame is assumed to be static. It should be published by a static TF publisher
The tf from the world frame to the base frame will be published by laser_scan_matcher, and will represent the moving pose of the robot in the world.
If you publish a tf from /world
to base_link
in your code, code (and the publish_tf
param is true), that will result in a conflict with the scan matcher, since base_link
now has two parents.
I might be able to provide more help if you describe your usage scenario and what your node is doing.
3 | No.3 Revision |
Let's examine the frames laser_scan_matcher
works with:
/base_link
world
(or sometimes odom
)The tf from the base frame to the sensor frame is assumed to be static. It should be published by a static TF publisher
The tf from the world frame to the base frame will be published by laser_scan_matcher, and will represent the moving pose of the robot in the world.
If you publish a tf from /world
to
in your code (and the base_link/base_linkpublish_tf
param is true), that will result in a conflict with the scan matcher, since base_link
now has two parents.
I might be able to provide more help if you describe your usage scenario and what your node is doing.