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Hi.
I wish to do a tf baselink->laser. I am using xvlidar and it give /scan. I followed the steps here: http://wiki.ros.org/navigation/Tutori... I managed to do it and it did churn out the sample output. How do I use the /scan data from the lidar and feed it to the tf?
Thank you.
Your laser will output a point cloud or an array of points in a topic ("/scan" if I undestood you). This messages will have a frame_id (for example, "base_scan"). To use this points in your program you have to subscribe to this topic (see Basic Tutorials) and if you want to use your points with respect to the robot base you will have to publish the transformation from base_link to base_scan. It can be done with a a static transform publisher.
thank you dfornas. can I also ask what's the difference between doing the transformation from base_link to base_scan via code writing shown here: http://wiki.ros.org/navigation/Tutori... and versus just adding a static transform publisher?
On the other hand, that code uses the information in TF (so it needs the static transformation also to be set) to transform the frame from the laser reference frame to the robot reference frame. With this the points info can be used properly. Do you get the difference?
Asked: 2016-01-12 00:47:27 -0500
Seen: 3,274 times
Last updated: Jan 12 '16
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