hokuyo_node. Why does Fixed Frame [laser] does not exist?

Hello everyone,

i'm trying to get hokuyo_node running on my youbot (ros hydro, ubuntu 12.04) and i am facing a problem.

I would like to chose /laser as Fixed Frame in Global Options. But it does not exist. I get the warning "Fixed Frame [laser] does not exist" in Global Status when i type it in manually.

Does anyone know how to fix this problem? I'd really much appreciate any help.

Be aware, the main problem i am facing is that i want to get the navigation stack running on my youbot. When starting the navigation stack i am getting two warnings and i think i can solve one of them with this.

Thanks a lot.

Asked by m.hoev on 2014-05-26 04:29:48 UTC

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Answers

Hi, I faced similar issue, couldn't find any permanent solution,(I think issue is with rviz) here is a temporary one if /map is set as your default fixed frame , Then publish a static transformation between /map and /laser you can use rosrun tf static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

the idea is to publish transformation between default frame and sensor frame .. its fine if its not static!!

NOTE : But you wrote that you are launching navigation stack, transformation between /map and /laser should be getting published in this case, THIS IS TEMP SOLUTION (works for me) :P

Asked by Sudeep on 2014-05-26 06:41:49 UTC

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Found a solution. My wrapper publishes the transformation odom -> base_footprint of my youbot. With this tutorial http:// wiki.ros.org/navigation/Tutorials/RobotSetup/TF wrote a transformation base_footprint -> laser. So now i have the tf tree odom -> base_footprint -> laser

Asked by m.hoev on 2014-06-13 05:55:12 UTC