A question about using tf . [closed]

asked 2014-08-11 08:24:50 -0600

Lau gravatar image

updated 2014-08-11 09:30:14 -0600

Hello ! I have a LIDAR HDL-32E on my car , and I load a car model in the rviz and display the point cloud . The "frame_id" of the LIDAR is "velodyne" and the car base's is "base_link" . Then I do these steps :

  1. launch the LIDAR and publish the topic velodyne_pointclouds whose type is sensor_msg::PointCloud2 ;
  2. run the tf_broadcaster , transform the frame between velodyne and base_link;
  3. launch the car model and display in rviz .

But point cloud did not show out ater I add the PointCloud2 in the left window . And it informs an Error :

For frame [velodyne]:Frame [velodyne] dose not exist .

Maybe I misunderstand the tf and the relationship between reality and simulation . Can tell me what should I do ?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2018-05-17 18:19:49.240886



Have you tried visualizing or echoing your tf tree to verify that the transforms are actually being broadcast?

Tom Moore gravatar image Tom Moore  ( 2014-08-11 08:32:49 -0600 )edit

How to do this step ?

Lau gravatar image Lau  ( 2014-08-11 09:39:30 -0600 )edit

add tf in rviz left window or use rosrun tf view_frames ( http://wiki.ros.org/tf#view_frames )

bvbdort gravatar image bvbdort  ( 2014-08-11 10:08:42 -0600 )edit

I ran the tf view_frames and it does broadcast . But still no point cloud displayed in rviz .

Lau gravatar image Lau  ( 2014-08-11 10:38:34 -0600 )edit

still the same error or different ?

bvbdort gravatar image bvbdort  ( 2014-08-11 10:58:01 -0600 )edit

What have you set as fixed frame in RVIZ? I don't know the tf_broadcaster, but stuff like that is usually done with the static_transform_publisher: http://wiki.ros.org/tf#static_transfo...

BennyRe gravatar image BennyRe  ( 2014-08-12 00:55:09 -0600 )edit

DId you figure this out? We'll need some more info to help you further.

tfoote gravatar image tfoote  ( 2014-09-22 19:34:25 -0600 )edit