Hi, i am working with hokuyo lidar and dynamixel motor ax-12a. Can anybody tell me for which frames i have to provide tf between hokuyo lidar and dynamixel motor?
I want to see the laser scans spinning in rviz. `#include <ros ros.h=""> #include <tf transform_broadcaster.h=""> #include <dynamixel_msgs jointstate.h=""> #include "sensor_msgs/PointCloud2.h" #include <sensor_msgs jointstate.h="">
#include "laser_assembler/AssembleScans.h"
void transform_Callback(const dynamixel_msgs::JointState& msg) { ROS_INFO("broadcasting transform"); }
int main(int argc, char** argv){ ros::init(argc, argv, "tf_broadcaster");
ros::NodeHandle node; ros::Rate rate(30.0); static tf::TransformBroadcaster br; tf::Transform transform; while(ros::ok()) {
transform.setOrigin( tf::Vector3(0.0, 0.0, 0.0) ); tf::Quaternion q; q.setRPY(0, 0, 0); transform.setRotation(q); br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/tilt_laser", "/laser")); ros::Subscriber sub = node.subscribe("/tilt_controller/command", 1000, transform_Callback);
rate.sleep(); ros::spinOnce(); }
return 0; };
`
