ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

The code you are using here to generate your laser scan is publishing LIDAR data in the 'laser_frame' coordinate frame, but the laser_scan_matcher node is expecting data in (or with a TF to transform it into) the 'base_link' coordinate system. Because the matcher node can't transform points from the 'laser_frame' into the 'base_link' frame it is failing.

If you find out what coordinate frame the laser messages in the bag file are in (you can visualise them in RVIZ to find this out) then modify line 21 in your code to this:

scan.header.frame_id = '<The laser frame you find in the bag file>'

Then it should start working.