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When OpenNI publishes point cloud it sets up frame_id
to some prespecified value, but it does not create a real tf
frame. The frame_id
simply says that points were acquired with respect to that frame.
To check the frame_id
of your point cloud use the following command:
$ rostopic echo -n 1 /camera/depth/points/header/frame_id
Then, either manually fill in the value you get to Fixed frame in RViz or define a new tf
transformation with static_transform_publisher, for example:
$ rosrun tf static_transform_publisher 0 0 0 0 0 0 /world /openni_rgb_optical_frame 100