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Laserscan tf to odom frame (RVIZ)

asked 2015-05-29 05:01:44 -0600

Karl_Auer gravatar image

Hi at all out there,

have a problem with a point that is displayed in RVIZ, but seems not to exist in our data, because all filtering efforts fail.

We do the following steps:

  1. A laserscanner subscriber delivers scan data
  2. We transform the data in our odometry frame with the tf package
  3. We throw away some points that are to far away for our calculation
  4. We apply an algorithm on the remaining data. We tried different algorithms but the problem still remains.

The point lies on the odometry frame origin.

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answered 2015-05-29 10:50:25 -0600

Karl_Auer gravatar image

Found the problem. I'm splitting my laserscan into left and right and somehow i had some points in both vectors. Now I checked the vectors against each other for duplicates and erased them - problem solved.

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answered 2015-05-29 08:39:18 -0600

Tom Moore gravatar image

Are you saying a single point lies on the origin, or all points are drawn relative to the origin? Perhaps you can edit your question and post a picture? What do you have listed as your "Fixed Frame" in rviz?

If you are filtering the laser scan points before displaying them, then I assume you are re-broadcasting a new LaserScan message? If you are already transforming the data into the odom frame, then are you also setting odom as the frame_id in your new message?

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Asked: 2015-05-29 05:01:44 -0600

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Last updated: May 29 '15