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How to visualize PointCloud2 in rviz

asked 2017-03-27 00:08:04 -0600

Albertx gravatar image

I have a BAG file, XXX.bag

I started roscore and rosbag play XXX.bag. Then I opened rviz.

I added a PointCloud2

But I got an error Transform[sender=unknow] For frame [velodyne] fixed frame [map] doesn't exist

My global options has fixed frame map

I am new to ROS. I don't understand any of these error messages.

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answered 2017-03-27 02:37:35 -0600

The problem is that you have left the fixed frame to map. RViz doesn't know where to place the point cloud, since the map -> velodyne transform doesn't exist. So, either use the static_transform_publisher in tf to publish that transform, or just change the frame in rviz to velodyne.

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answered 2017-03-27 02:33:17 -0600

angeltop gravatar image

Change the RViz fixed frame to the frame of the pointcloud.

You can find the frame of the pointcould with:

rostopic echo -n 1 POINTCLOUD_TOPIC | grep frame_id
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answered 2018-09-21 08:14:40 -0600

Farid gravatar image

(fixed frame MUST be assigned to "velodyne". In a separate terminal:

$ rosrun rviz rviz -f velodyne

In Rviz:

To visualize /scan topic:

Displays -> Add -> By topic -> LaserScan

To visualize /velodyne_points topic:

Displays -> Add -> By topic -> PointCloud2
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Asked: 2017-03-27 00:08:04 -0600

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Last updated: Sep 21 '18