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

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Your approach is correct, but it sounds like you might be using the wrong moving frame, ie /openni_depth_frame instead of /openni_depth_optical_frame.

The best practice is to look up the tf between the fixed frame (/map) and the cloud.header.frame_id of the cloud message you receive. This way, you don't need to hard-code the moving frame id.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2