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you will need to connect the map, world frames in your launch file

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.2245 0.0 0.2 0.0 0.0 0.0 /base_footprint /laser_frame 40"/>

 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 /world /map 100" />

 <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 /map /base_footprint 99" />

Add this to your launch file for the lidar.

@boon you will need to connect the map, world frames in your launch file

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.2245 0.0 0.2 0.0 0.0 0.0 /base_footprint /laser_frame 40"/>

 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 /world /map 100" />

 <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 /map /base_footprint 99" />

Add this to your launch file for the lidar.

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@boon you will need to connect the map, world frames in your launch file

 <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"  args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40"/>

40" />
 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 /world /map 100" />

 <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 /map /base_footprint 99" />

Add this to your launch file for the lidar.