Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

I'm guessing the LIDAR manufacturer may have put a "stock" transform publishing into their node to make it convenient for folks bringing up just the LIDAR node for testing on their desk before integration into a robot.

Thanks to the suggestion of @janindu as to how to watch the transform publishing stream, it appears that it does not matter that the node publishes an invalid-for-my-bot transform as long as I start the robot_state and joint_state publisher after starting the lidar node.

I probably should comment out the publisher in the node and the launch files to prevent this confusing for anyone that will look at my code. (There are a couple of us building ROS bots on the GoPiGo3 robot platform.)

I'm guessing the LIDAR manufacturer may have put a "stock" transform publishing into their node to make it convenient for folks bringing up just the LIDAR node for testing on their desk before integration into a robot.

Thanks to the suggestion of @janindu as to how to watch the transform publishing stream, it appears that it does not matter that the node publishes an invalid-for-my-bot transform as long as I start the robot_state and joint_state publisher after starting the lidar node.

I probably should comment out the publisher in the node and the launch files to prevent this confusing for anyone that will look at my code. (There are a couple of us building ROS bots on the GoPiGo3 robot platform.)