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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 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

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Last updated: Feb 22 '18