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Sorry, next time I will try to describe the Problem with more details. I was able to fix the issue. The Problems were: -Robot_state_publisher was Publishing into /tf (in Addition to the tf broadcaster that I set up). -the time increment published by the laser scanner (turtlebot3 laser scanner) was to small (factor x10). -the time stamp published with each scan was wrong due to latency off the scanner. Fixed this by adding a ros::Duration Offset to the time stamp.

Sorry, next time I will try to describe the Problem with more details. I was able to fix the issue. issue.

The Problems were: were:

-Robot_state_publisher was Publishing into /tf (in Addition to the tf broadcaster that I set up). -the time increment published by the laser scanner (turtlebot3 laser scanner) was to small (factor x10). -the time stamp published with each scan was wrong due to latency off the scanner. Fixed this by adding a ros::Duration Offset to the time stamp.

Sorry, next time I will try to describe the Problem with more details. I was able to fix the issue.

The Problems were:

-Robot_state_publisher was Publishing into /tf (in Addition to the tf broadcaster that I set up). up).

-the time increment published by the laser scanner (turtlebot3 laser scanner) was to small (factor x10). x10).

-the time stamp published with each scan was wrong due to latency off the scanner. Fixed this by adding a ros::Duration Offset to the time stamp.

Sorry, next time I will try to describe the Problem with more details. I was able to fix the issue.

The Problems were:

-Robot_state_publisher was Publishing into /tf (in Addition to the tf broadcaster that I set up).

-the time increment published by the laser scanner (turtlebot3 laser scanner) was to small (factor x10).

-the time stamp published with each scan was wrong due to latency off of the scanner. Fixed this by adding a ros::Duration Offset to the time stamp.