How to tell coordinate frame of laser scans to Rviz?

asked 2017-09-01 02:15:00 -0500

updated 2017-09-01 02:16:07 -0500

I have a Omron OS32C laser scanner with me. The corresponding node publishes only scan data and no /tf data.

I have constructed a tf tree from map-> base_laser -> laser. I have put map as fixed frame and target frame as base_laser in Rviz.

But, how do I tell Rviz that laser scan readings are in laser frame? Is there a option for that in Rviz settings?

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Comments

the scan is LaserScan msg which has the header/frame_id to specify the frame.

naveedhd gravatar image naveedhd  ( 2017-09-01 02:22:34 -0500 )edit

Yes . Thanks a lot

Harsh2308 gravatar image Harsh2308  ( 2017-09-01 02:29:03 -0500 )edit