Publishing tf with kinect and watch it in rviz

asked 2015-08-27 04:39:01 -0500

Rookie92 gravatar image

updated 2016-10-24 09:05:10 -0500

ngrennan gravatar image


I am trying to do a tf with kinect, but I can not visualize it with rviz.

I have done a tf_broadcaster similar that the ros tutorials, but I don't know the way to link the last son of the tf tree to the kinect, this is the code of the last son:

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "robot_tf_publisher_vertical_kinect");
  ros::NodeHandle n;

  ros::Rate r(100);

  tf::TransformBroadcaster broadcaster;

        tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.4, 0, 1.25)),

                    ros::Time::now(),"base_link", "camera_link"));


And this is the tf view_frames:frames

I don't know if it works because I dont know watch in rviz the tf and pointcloud from kinect. Please can somebody help me?


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