Creating a fixed frame for a transform frame

asked 2018-07-10 15:04:59 -0600

Gordon gravatar image

updated 2018-07-10 17:20:22 -0600

I am using the SLAM package on github located here . 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" />
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What did you alter? Why? What launch file are you running as I see two (I'm guessing that it's icpslam.launch)?

jayess gravatar imagejayess ( 2018-07-10 16:26:55 -0600 )edit

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.

Gordon gravatar imageGordon ( 2018-07-10 16:35:26 -0600 )edit

Can you please update your question with a copy and paste of these changes?

jayess gravatar imagejayess ( 2018-07-10 16:59:17 -0600 )edit

param name="laser_cloud_topic" type="string" value="/velodyne_points" />

Gordon gravatar imageGordon ( 2018-07-10 17:00:55 -0600 )edit

param name="num_clouds_skip" value="20" />

Gordon gravatar imageGordon ( 2018-07-10 17:03:45 -0600 )edit

param name="voxel_leaf_size" value="0.5" />

Gordon gravatar imageGordon ( 2018-07-10 17:04:02 -0600 )edit

param name="robot_frame" type="string" value="velodyne" />

Gordon gravatar imageGordon ( 2018-07-10 17:04:18 -0600 )edit

Obviously there is a < in front of each of those lines but those are the 4 lines added in the launch files.

Gordon gravatar imageGordon ( 2018-07-10 17:04:46 -0600 )edit