How to build a 3D view with RealSense R200

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Hi to all,

I've installed everything included in https://github.com/PercATI/RealSense_ROS and I'm able to launch

roslaunch realsense realsense_r200_launch.launch

without problems or errors.

Since I would like to use my Realsense R200 to build a 3D view of my environment in RVIZ, I tried to load the realsenseRvizConfiguration.rviz configuration file as the author suggests in his tutorial.

When I load this file, I get this error: " Fixed Frame [world] does not exist " and " For frame [camera_depth_optical_frame]: Fixed Frame [world] does not exist" as you can see in the attached screenshot. screenshot.png This is my view_frames output: view_frames.png.

I noticed that there is no world frame, but I don't know how to load it in my tf tree.

I would like to build a 3D view like it is shown in http://wiki.ros.org/RealSense_R200?ac... .

In addition, do you think it's possible to move the sensor around a room and build a 3D map?

Thank you for your time,

Rocco Galati