Hello I'm working with the camera Kinect and ROS. What I want to do is to pass the Euclidean Cluster Extraction algorithm ,which is already programmed by PCL, and then publish the cluster point cloud as a topic to see it in RVIZ. The algorithm works well but I don't achieve to see the point cloud in RVIZ. I get the next error.

[ WARN] [1491915103.250681622]: Invalid argument passed to canTransform argument sourceframe in tf2 frameids cannot be empty

I think that is has something to do with the way of saving the information. Here's the code.

pcl::PointCloudpcl::PointXYZ::Ptr cloudcluster (new pcl::PointCloudpcl::PointXYZ); for (std::vectorpcl::PointIndices::constiterator it = clusterindices.begin (); it != clusterindices.end (); ++it) { for (std::vector::constiterator pit = it->indices.begin (); pit != it->indices.end (); ++pit) cloudcluster->points.pushback (cloudremnoise->points[pit]); // cloudcluster->width = cloudcluster->points.size (); cloudcluster->height = 1; cloudcluster->isdense = true; std::cout << "PointCloud representing the Cluster: " << cloud_cluster->points.size () << " data points." << std::endl; }

// Convert to ROS data type sensormsgs::PointCloud2 output; pcl::toPCLPointCloud2 (*cloudcluster, cloudplanePCL2); pcl_conversions::fromPCL(cloudplanePCL2, output); // Publish the data pub.publish (output); pub.publish (output);

Thaks in advance