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Questions on RVIZ settings for Hokuyo laser scan

asked 2015-06-17 21:31:57 -0500

psprox96 gravatar image

updated 2015-06-17 23:15:50 -0500

After connecting my Hokuyo with the laptop, I ran urg_node, tf_broadcaster, tf_listener, state_robot_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]

/my_frame No transform from [/my_frame] to frame [/base_laser]

For Map, no topic.

How do I troubleshoot the warning?

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What is your laser frame? /my_frame? Then set the fixed frame to that.

dornhege gravatar image dornhege  ( 2015-06-18 02:58:24 -0500 )edit

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?

psprox96 gravatar image psprox96  ( 2015-06-18 04:32:28 -0500 )edit

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answered 2015-06-18 02:03:48 -0500

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

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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?

psprox96 gravatar image psprox96  ( 2015-06-18 04:35:27 -0500 )edit

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.

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-06-18 06:34:49 -0500 )edit

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Asked: 2015-06-17 21:31:57 -0500

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Last updated: Jun 18 '15