How do you make a transform for a laser and a Kobuki?

asked 2017-03-29 14:00:11 -0600

ayan 2016 gravatar image

updated 2017-03-29 14:05:45 -0600

What I want to do is to use "slam_gmapping" for my Kobuki robot and I'm using a Phab2 Pro as the laser scanner, because on the phone itself, it converts pointcloud to laser scans. (Phab2 Pro has Project Tango built in) But the problem is that when I select "Map" as the Fixed Frame in Global Options in RViz, I only get my Kobuki TF data and not my Phab2 Pro's TF data. I've read somewhere that it has to do with making a transform, but I don't know how to do that. Also, I need easy instructions because I'm not advanced in ROS, but I'm not new either. I'm in the middle. I will post screenshots soon, too. I am running ROS Kinetic on an Ubuntu laptop (I think 16.04; whatever the latest version is). I'm also running Tango ROS Streamer on my Phab2 Pro, then running RViz with a special .rviz file so that I can see what the Phab2 Pro is capturing in real time. The error is: No transform from [laser] to frame [map]

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