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@JoloGermanAg This is usually accomplished by having a static_transform_publisher publish a static transform between the frame of the PCD map and the frame of the vector map. It is most common that the PCD will have an origin which is at the location where the PCD recording started and that the vector map has an origin in a specific Japanese Plane Rectangular CS or other global coordinate system origin (like 0, 0, 0 latitude, longitude, and altitude). To get them to line up, you need to calculate the location of the PCD map's origin in the vector map's coordinate system (in meters) and enter them in a launch file like this:

<node pkg="tf" type="static_transform_publisher" name="pcd_to_vector" args="0 0 0 0 0 0 pcd_frame vector_frame 100" />

In the above, replace 0 0 0 0 0 0 with the coordinates of the PCD map's origin in the vector map's frame in x y z roll pitch yaw, replace pcd_frame with the frame of the published PCD map, and replace vector_frame with the frame of the published vector map. 100 is the frequency in Hz at which the transform will be published.