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LaserProjector's results differ from rviz

asked 2015-03-23 13:09:58 -0500

peci1 gravatar image

Hello ROS geeks, I face a difficulty in projecting a LaserScan.

We have a rotating SICK LMS scanner which publishes laser scans relative to tf frame /laser.

Then I use LaserProjector::transformLaserScanToPointCloud to project the scan into a point cloud relative again to the /laser frame.

But when I display both the scan and the pointcloud in rviz, they differ slightly. That seem pretty odd to me, because I've seen LaserProjector being used also in rviz' laser_scan_display plugin in a very similar way (the only difference is rviz computes the pointcloud relative to the fixed frame, which is in my case /odom).

Do you have some ideas why do the two displayed things differ? Or do you have an idea on how to debug this?

Thanks for any ideas.

rviz display

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answered 2015-03-24 07:08:50 -0500

peci1 gravatar image

Problem solved.

I misused the transformLaserScanToPointCloud function to return a pointcloud in the /laser frame, which is in no means a fixed frame. However, the description of the function says it can only return pointclouds in a fixed frame for the result to make sense.

So I just use the /base_link frame as target for the conversion and now it all works :)

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Asked: 2015-03-23 13:09:58 -0500

Seen: 181 times

Last updated: Mar 24 '15