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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.
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.
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
(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
Asked: 2017-03-27 00:08:04 -0500
Seen: 6,329 times
Last updated: Sep 21 '18
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