Questions on RVIZ settings for Hokuyo laser scan
After connecting my Hokuyo with the laptop, I ran urgnode, tfbroadcaster, tflistener, staterobot_publisher and RVIZ.
The Hokuyo doesnt scan the area with laser yet since I need to do configuration.
For Global Options, fixed frame is /base_laser.
For Grid, reference frame is /base_laser.
For Laser Scan, topic is /scan, now working.
For TF, status is Warn because:
/map No transform from [/map] to frame [/base_laser]
/myframe No transform from [/myframe] to frame [/base_laser]
For Map, no topic.
How do I troubleshoot the warning?
Asked by psprox96 on 2015-06-17 21:31:57 UTC
Answers
You need to publish somehow the transformation between the map and your laser. That is, use static transform publisher to publish the transformation between /map and /base_laser. It can be all 0, do not worry about that.
However, I recommend you to stick to the common frame naming convention usually /laser for the laser and /base_link
Asked by Javier V. Gómez on 2015-06-18 02:03:48 UTC
Comments
Yes, I got it! Thanks. I created a launch file for static transform publisher and the laser is scanning already. But my /map and /my_frame is still at "Warning" level. Is it fine? If not, do you know what I need to configure?
Asked by psprox96 on 2015-06-18 04:35:27 UTC
Well, it is never fine to have warnings. Are you still publishing any information for any of those frames? Probably you need another static tf publisher between map and world.
Asked by Javier V. Gómez on 2015-06-18 06:34:49 UTC
Comments
What is your laser frame? /my_frame? Then set the fixed frame to that.
Asked by dornhege on 2015-06-18 02:58:24 UTC
I set fixed frame to /base_link and it is OK now. However, /map and /my_frame are still at "Warning". Do you know what did I set wrongly?
Asked by psprox96 on 2015-06-18 04:32:28 UTC