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base_link to laser frame

asked 2011-10-13 03:13:30 -0500

elfugao gravatar image

Hi,

I'm trying to use gmapping, RVIZ, etc. I wrote a urdf file to describe my robot. I have a problem with transform. I have to provide a base_link to laser_frame transform. Should I write this transform or does it already exist in hokuyo node ? If I have to write if, do I need to transform every points of the laser scan ?

Thanks

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answered 2011-10-13 03:52:30 -0500

dornhege gravatar image

The transform should be in your URDF file. You should have a link base_link that is your base and a hokuyo link that is the laser_frame. You use a robot state publisher that will send out these transforms automatically from the URDF.

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I wrote a tf_broadcaster to send transform between base_link and laser and also tried tf's static_transform_publisher. Is this okay? Because when I launch rviz, I cannot visualize the laser scan with base_footprint or base_link as the fixed frame although tf view_frames shows everything correctly.

2ROS0 gravatar image2ROS0 ( 2014-07-02 18:11:40 -0500 )edit

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Asked: 2011-10-13 03:13:30 -0500

Seen: 889 times

Last updated: Oct 13 '11