See point cloud in rviz
Hi, I'm trying to view a point cloud that I am generating with an AR Drone in rviz. I have the transform set as /ardrone_base_link --> /cam_front and using tf_echo I see:
rosrun tf tf_echo /ardrone_base_link /cam_front
At time 1395260250.630
- Translation: [0.007, 0.209, -0.001]
- Rotation: in Quaternion [-0.677, 0.034, -0.037, 0.735]
in RPY [-1.489, -0.000, -0.101]
At time 1395260251.568
- Translation: [0.006, 0.209, -0.001]
- Rotation: in Quaternion [-0.677, 0.034, -0.037, 0.735]
in RPY [-1.489, -0.000, -0.101]
If i do an echo on the /tf I get:
rostopic echo /tf
transforms:
-
header:
seq: 0
stamp:
secs: 1395260346
nsecs: 276967023
frame_id: /ardrone_base_link
child_frame_id: /cam_front
transform:
translation:
x: 0.0063893099241
y: 0.209490348767
z: -0.000927047945466
rotation:
x: -0.676587213276
y: 0.0340744443113
z: -0.0371685138251
w: 0.734634042674
And the tf_monitor:
rosrun tf tf_monitor /ardrone_base_link /cam_front
RESULTS: for /ardrone_base_link to /cam_front Chain is: /ardrone_base_link -> NO_PARENT -> /ardrone_base_link -> /ardrone_base_link Net delay avg =
0.069172: max = 0.21447
And I am publishing the point_cloud on /ardrone/point_cloud:
rostopic type /ardrone/point_cloud
sensor_msgs/PointCloud2
If I do a rostopic echo on the point_cloud I get proper data.
When I try to use rviz on the point_cloud with the above tranform I get the following errors whenever a new point_cloud message is published:
Message from [/drone_stateestimation] has a non-fully-qualified frame_id [1]. Resolved locally to [/1]. This is will likely not work in multi-robot systems. This message will only print once
And the point_cloud never shows up. I also get message in rviz saying "Showing [0] points from [0] messages."
In my tf broadcase I am doing:
tf::StampedTransform t = tf::StampedTransform(tr,ros::Time::now(),"/ardrone_base_link","/cam_front");
I think part of the problem is the seq:0 in the rostopic echo /tf never changes, but I don't know how to fix that. There could be other problems too. Any ideas?