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How to change the co-ordinates of the velodyne point cloud data?

asked 2016-06-09 10:17:41 -0600

b-sriram gravatar image

updated 2016-06-09 10:18:17 -0600

image descriptionimage description Hi,

I have three velodynes and I launch all the three using group. I get the point cloud but all of them have the same fixed frame as 'velodyne' and when I visualize it in rviz, all the point clouds have the same origin.

I tried using tf package

<node pkg="tf" type="static_transform_publisher" name="HDL_1_base_link" args="5 0 0 0 0 0 /velodyne /HDL_1/velodyne_points 100"/> 

<node pkg="tf" type="static_transform_publisher" name="HDL_2_base_link" args="-5 0 0 0 0 0 /velodyne /HDL_2/velodyne_points 100"/>

but ony the axis change but not the point clouds.

Can please tell me what I doing wrong and suggest a solution?

Thanks in advance

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1 Answer

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answered 2016-06-09 11:06:46 -0600

joq gravatar image

Set the frame_id parameter of the velodyne_driver to be different for each device.

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Asked: 2016-06-09 10:17:41 -0600

Seen: 769 times

Last updated: Jun 09 '16