Revision history [back]

I checked your rosbag and noticed that there are two mistakes.

1. points_raw is made of the world frame

   Set /points_raw/header/frame_id to "velodyne" and convert pointcloud to sensor coordinate system.

2. The time stamp of points_raw does not match ros time

   Please compare the following two.

$ rostopic echo /points_raw/header/stamp

$ rostopic echo /clock

It is correct that this value is almost identical. If not, TF can not convert correctly.

Please set /points_raw/header/stamp with ros::Time::now() and publish.