Use leddar sensor with Local_map package

edit

Hello again!

So i figured out what was the problem. So with the Kinect you dont need to publish the tf but with the leddar you have to declare the tf relationship from the local_map (that i assume to be the parent) and the leddar frame.

In the launch file that you need to create just put the following code (if i have any error please correct me!):

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 local_map/local_map /leddar 100" />

Once you have done it you will need to change in the //Construct LaserScan message of the file leddar.cpp the time parameter to

msg.header.stamp = ros::Time(0);

And it's done!