How to let Laserscan message move with base_link? [closed]

asked 2016-01-21 08:31:03 -0500

bailiqun gravatar image

I have a frame named /world ,and I got laserscan device made by myself,I publich laserscan massage and it's frame_id is laser. then I use tf

transform.setOrigin(tf::Vector3(1,0,0)); tf::Quaternion q; q.setRPY(k,0,0); k=k+0.1; transform.setRotation(q); br.sendTransform(tf::StampedTransform(transform,ros::Time::now(),"world","laser"));

I want laser_scan message show in fixed frame /world. tf tree shows correct,but laserScan point cloud doesn't show..

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-02-15 20:36:48.692589


What do you mean with "laser_scan message show in fixed frame /world"? Show it in RViz? And what do you mean with "LaserScan point cloud doesn't show"? Doesn't show in RViz? Shows but not correct? Sorry, it's not very clear what do you wwant to do and what's not working

jorge gravatar image jorge  ( 2016-01-21 10:36:07 -0500 )edit

I'm so sorry , I did a laser scan device ,and I write a driver node to send Laserscan massage whitch frame_id is /laser, then I want this laser massage rotated pitch angle,so I write a TF node to transfrom from frame /world to /laser, In rviz,I set fixed frame to /world,I saw frame /laser rotated

bailiqun gravatar image bailiqun  ( 2016-01-22 02:43:31 -0500 )edit