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tf between pointcloud and world frame

asked 2018-02-22 14:19:07 -0500

Oh233 gravatar image

updated 2018-02-22 14:55:37 -0500

tfoote gravatar image

Dear all,

Instead of using freenect_launch package, I published all depth_image_proc required images and infos by myself and successfully generated pointcloud since I can echo specified topic and it did have response. The problem right now is when I want to use pointcloud to generate actomap in moveit, I assume since I lose the tf between pointcloud and world, the message will always drop. But because I don't know what frame name of pointcloud, I don't know what I should write down when I launch tf publisher. Any idea for how to get the frame name of my pointcloud? Thanks in advance for any help.

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answered 2018-02-22 14:55:21 -0500

tfoote gravatar image

If you're publishing the images yourself should be setting the frame_ids in your code. Or else it's a parameter on the intermediate pipeline. You can always find out the frame_id on a message by looking at the output of rostopic echo .

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Got it. So the frame_id is specified in the header of message. Right now after launch tf between world and pointcloud in move_group.launch, when I run rviz, it always crashed because of failure to call service /get_planning_scene. But I did launch move_group.launch. Any idea? Thanks for reply.

Oh233 gravatar image Oh233  ( 2018-02-22 15:04:51 -0500 )edit

That's an separate question, please ask it separately and provide full details on how to reproduce your problem. Advise of asking good questions can be found at http://wiki.ros.org/Support The better your question the better your answer.

tfoote gravatar image tfoote  ( 2018-02-22 15:14:43 -0500 )edit

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Asked: 2018-02-22 14:19:07 -0500

Seen: 134 times

Last updated: Feb 22 '18