Hi all,

Hoping someone can explain what what's missing here. I have 3 nodes: Openni2camera, depthminageto_laserscan and my own node which publishes all the tf transforms, sonar, odemetry, telemetry and ir data.

When I come to get rviz to publish the laserscan message i get this:

rviz seems to be happy that the transform is correct

my topic graph looks like

and lastly the bit of code that does the transform for the

bool ToeminatorROSBridge::publishLaserScanTF(ros::Time time, RobotData* pRobotData)
{
// Scan Range
sensor_msgs::Range sonar;
tf::TransformBroadcaster sonar_broadcaster;
ros::NodeHandle n;


sonar_broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createQuaternionFromRPY(0, 0, degree_to_radian(ROS_FrontSonarAngle)), 
                                                                    tf::Vector3(0.0, 0.15, 0.0)),
                                                                    time,
                                                                    "base_link", 
                                                                    "camera_depth_frame"));

return true;
}

Anyone any idea where the problem lies? - I suspect it's transform relate, not sure where however. All the other data (Sonars etc are showing up as expected)

EDIT:

So running:

rosrun tf static_transform_publisher 1 0 0 0 0 0 /base_link /camera_depth_frame 10

yields this as a

Both nothing in rviz or run

rosrun tf view_frames

Many Thanks

Mark