Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Generally, you only have to attach a camera's base_link somewhere in your scene. It should have a unique name, so no two cameras or sensors share the same frame name. You can refer to this question on how to do this.

I don't know what you mean by "appear another tf between camera_link and pointcloud". I also don't understand which frames are connected and which are not. Please do not mix up the terms "tf", "transforms", "frames" and "frame names" if you explain further.