sensor_msgs::PointCloud2 not displaying in rviz

asked 2013-12-20 05:10:26 -0600

3034 ●32 ●43 ●58

updated 2013-12-20 07:35:33 -0600

hi,

I am new to ROS. I have read binary files of laser dataset and prepared sensor_msgs::PointCloud2 messages. But when i tried to view them in rviz, it not showing anything. Here is one of the pointcloud message from rostopic echo. I would like to know what is the problem.

--thanks

header: 
  seq: 107
  stamp: 
    secs: 0
    nsecs: 0
  frame_id: laser_link
height: 1
width: 98322
fields: 
  - 
    name: x
    offset: 0
    datatype: 7
    count: 1
  - 
    name: y
    offset: 4
    datatype: 7
    count: 1
  - 
    name: z
    offset: 8
    datatype: 7
    count: 1
  - 
    name: r
    offset: 12
    datatype: 7
    count: 1
is_bigendian: False
point_step: 16
row_step: 1573152
Data : [201, 186, 100, .........<largedata> ..................]
is_dense: True
---

answered 2013-12-22 03:17:00 -0600

demmeln
4306 ●32 ●45 ●69

In the pointcloud display in rviz under "Status", do you see that the one message arrived in rviz?

What is your 'Fixed Frame' (Global Options in rviz)? Set it to 'laser_link', or make sure there is a tf transform from the fixed frame to laser_link.

I'm not sure how exactly rviz handles timestamps, maybe the 0 timestamp of the message is an issue (but I guess it should still display).

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@demmeln /map is my fixed frame and i am publishing /map to /odom tf and have static tf for /base to /odom and /base to /laser. its not showing number of messages recieved.

bvbdort ( 2013-12-22 03:34:11 -0600 )edit

@bvbdort the point cloud's frame is /laser_link according to the message, but your tf tree does not seem to have it ... name mismatch? Also, if your fixed frame is /map, the point cloud message time stamp will need to match with that of the tf broadcasters. Is the point cloud visible when you set the fixed frame to laser_link?

VC ( 2013-12-22 04:57:17 -0600 )edit

@VC yes i mean /laser is /laser_link

bvbdort ( 2013-12-22 05:06:07 -0600 )edit

@demmeln its not showing number of messages recieved

bvbdort ( 2014-01-06 22:27:20 -0600 )edit

Hmmm... Can you check for errors with roswtf and then check if the publishing node and rviz are connected in rqt_graph?

demmeln ( 2014-01-07 10:21:26 -0600 )edit

@demmeln In rqt_graph its not showing anything related to rviz. No errors in roswtf.

bvbdort ( 2014-01-07 22:36:30 -0600 )edit

Sorry for the late reply. Have you set your fixed frame to laser_link? Are you publishing the message repeatedly, or just once? The number of messages received should show up if you open the "Status" entry in rviz. In rqt_graph untick "Hide Debug" to see rviz.

demmeln ( 2014-01-20 04:15:46 -0600 )edit

the problem is with data of pointcloud. When reading pointcloud data properly its working fine.

bvbdort ( 2014-01-20 21:45:25 -0600 )edit

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