How to align velodyne point clouds?
Hi, I have a Velodyne sensor on a robot and am trying to build a 2D map from the velodyne point clouds using octomap. I have odometry in the form of nav_msgs/Odometry messages from the /world to /base_link frame. How do I transform the velodyne point clouds so they are aligned even when the robot moves and turns?
I tried using pcl_ros::transformPointCloud with a tf listener that looked up the transform from the /world frame to the /velodyne frame but got an error saying the /velodyne frame does not exist. I have considered using the TransformNodelet from the velodyne_pointcloud package but am having issues with the calibration file. Would using the TransformNodelet with the specified frame as /world align the point clouds?
Thank you!