Laser scan to point cloud

asked 2015-11-22 10:28:58 -0500

VascoAC gravatar image

Hi everyone, I'm fairly new to ROS and I've successfully recorded a rosbag with just a laser scan. I'm able to view it in RVIZ and now I'm trying to transform the scan into a point cloud. I've also a tf_broadcaster and a tf_listener. I'm playing the bag (that has the scan), I'm running both the tf_broadcaster and tf_listener, and I've built the code from here , but I'm not able to obtain the point cloud. When I run the bag, the node that transform the laser scans into point cloud aborts. And I get this message:

terminate called after throwing an instance of 'tf2::LookupException' what(): "laser" passed to lookupTransform argument source_frame does not exist. Aborted (core dumped)

Thanks in advance!

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Are you sure the frame ID on which the laser publishes the laser scan is called "laser"?

Loneflyer gravatar image Loneflyer  ( 2015-11-23 03:43:53 -0500 )edit

You can do a quick

rosrun tf view_frames
evince pdf

to get the frames being published by your laser node.

Loneflyer gravatar image Loneflyer  ( 2015-11-23 03:44:50 -0500 )edit

@Loneflyer I get 2 frame id's : from base_laser to base_link

VascoAC gravatar image VascoAC  ( 2015-11-23 07:12:14 -0500 )edit

@Loneflyer I've already corrected that mistake. Now when I play my bag file I get the error: terminate called after throwing an instance of 'tf2::ExtrapolationException' what(): Lookup would require extrapolation into the future. Requested time 1448633914.965443600 but the latest data is at time

VascoAC gravatar image VascoAC  ( 2015-11-27 08:19:14 -0500 )edit