Creating a fixed frame for a transform frame
I am using the SLAM package on github located here https://github.com/YoshuaNava/icpslam . When I tried to run it against a Velodyne bag file I got no data being read into the pointcloud. I fixed this by altering the launch file to read from the velodyne file. The next issue is that when I try to launch the package in RVIZ I get the error "Fixed frame [velodyne] does not exist" is there a way that I could go in and make velodyne a fixed frame. There is no support on this topic whatsoever. I deleted lines 24-28 in icpslam.launch and replaced them with the code below:
<param name="laser_cloud_topic" type="string" value="/velodyne_points" />
<param name="num_clouds_skip" value="20" />
<param name="voxel_leaf_size" value="0.5" />
<param name="robot_frame" type="string" value="velodyne" />
What did you alter? Why? What launch file are you running as I see two (I'm guessing that it's
icpslam.launch)?I altered icpslam.launch on line 27 "/spinning_lidar/assembled_cloud" I changed to "/velodyne_points" this is just lines 30-33 uncommented. The reason for doing this is that as it is setup icpslam does not read in from any velodyne lidar bag files.
Can you please update your question with a copy and paste of these changes?
param name="laser_cloud_topic" type="string" value="/velodyne_points" />
param name="num_clouds_skip" value="20" />
param name="voxel_leaf_size" value="0.5" />
param name="robot_frame" type="string" value="velodyne" />
Obviously there is a < in front of each of those lines but those are the 4 lines added in the launch files.