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3D map in rviz

asked 2015-02-12 10:50:10 -0500

dan_yuzh gravatar image

I need to build 3d map in rviz. I have a recorded .bag file with the data from lidar which is going by straight line. So basically i need some way to provide rviz a fake info about movement of the robot. What is the easiest way to do that?

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answered 2015-02-13 01:58:07 -0500

You have to publish tf data for your fake robot that moves the frame of the sensor data (for example "lidar_frame") in relation to another frame (for example "world"). If you then set your "Fixed Frame" in rviz to "world", you should see your lidar_frame moving and lidar data rendered as you intended. The easiest way to do that is to have a robot with a localization system which automatically generates the required tf data :) To fake things, you could make a small cpp or Python node that uses a TransformBroadcaster as described in the tf broadcaster tutorial.

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Thanks a lot, I now have tf broadcaster from tutorial which was slightly modified, so 3d map building working well, however, it have too much extra functions that i dont need like a window with turtle, etc I need some clean tf broadcaster without any other features, but i didnt find any tutorials :(

dan_yuzh gravatar image dan_yuzh  ( 2015-02-18 22:26:55 -0500 )edit

Thx a lot, everything is okay now. So now i have a cloud of points, is there any way to export it from rviz?

dan_yuzh gravatar image dan_yuzh  ( 2015-03-02 12:40:42 -0500 )edit

Hello dan, please can you send me details on how you cleaned up the turtlesim related code. I am facing a similar issue wherein I would like to visualize 3d data in rviz from the 2d line data that I am getting from a laser scanner

ajaymn gravatar image ajaymn  ( 2015-07-23 07:11:57 -0500 )edit

Hi dan_yuzh, i am using ros jade. Can you tell me that is it possible to build 3d map with lidar without imu? thanks in advance.

ARCHANA gravatar image ARCHANA  ( 2016-01-19 13:21:33 -0500 )edit

Hello Dan, I also would like to export my registered point cloud from RVIZ. Did you ever find a way to do that? Also for what it is worth, I created my registered point cloud using BLAM! from Erik Nelson, it has worked nicely.

JohnMMeyer gravatar image JohnMMeyer  ( 2017-03-22 18:51:00 -0500 )edit

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Asked: 2015-02-12 10:50:10 -0500

Seen: 1,578 times

Last updated: Feb 13 '15