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I'm not sure if there is a more elegant way (such as redefining the center of rotation for a transform).
What you do need is to have the laser_link
at the position where you take your readings, assuming this is what you write in your sensor_msgs::LaserScan
as the frame_id
.
What we have done in this case so far, is to provide a third "mount" link.
I.e.: base_link
->laser_mount_link
->laser_link
, where base_link
->laser_mount_link
is basically what you have, except for translation.z
, and laser_mount_link
->laser_link
is really just a static transform only containing the translation.z
component. (It goes without saying that this can be adapted the way you need/want)