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Plotting Lidar Scan data in rviz

asked 2012-03-27 04:13:12 -0600

updated 2014-01-28 17:11:45 -0600

ngrennan gravatar image

Hi People,

I've been recently working on ROS with my new Husky A200 Robot from Clearpath. Platform Details: OS - Ubuntu 11.10 ROS - ros-electric-desktop-full Sensor - Hokuyo Lidar Issue - rviz output for laser scan

I opened rviz in its default state using

rosrun rviz rviz -l

Later I tried to add an interface for LaserScan and in the topics field I chose /lidar/scan However, I dont see any output and instead I get the error message as shown below:

topic: no message received

Transform:sender=/lidar/hokuyo : For frame [laser]: Frame [laser] does not exist

A simple command like rxplot /lidar/scan gives me the data from my Lidar scanner which implies I am able to communicate with the sensor otherwise.

looking forward for a reply that could help me proceed with my Lidar. Thanks.

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3 Answers

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answered 2012-03-27 04:35:46 -0600

In rviz you should change the .Global Options > Fixed Frame to the laser frame id, "/laser" by default.

I hope it works!

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answered 2012-03-30 03:31:36 -0600

Hey Marti Morta, for me you are no less than an expert and am reading all that you have said and it is helping me a lot. very many thanks. Now, maybe one more help from you and I could become more well-versed on what I am hoping to achieve. I am using HuskyA200 Robot platform alongwith several sensors like Axis PTZ camera, Kinect, Lidar and GPS. All I wish to do is Localization and Mapping with Obstacle avoidance. If I could well achieve this, I would also like to add some sort of Artificial Intelligence in the form of Fuzzy Logic, Neuro-fuzzy, or Particle Swarm Optimization to make it capable of generating the complete map autonomously.

Can you please guide me on what are the available modules, nodes and tutorials I can refer to to achieve some or all the sections of this Project.

Thanks fr ur help n lookin' forward for a response.

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Hi Sivam, there's plenty of information in the ros wiki, you can get your robot move and localize with the navigation stack. Also create maps with gmapping. Check them out they will help for sure!

martimorta gravatar image martimorta  ( 2012-04-02 05:46:58 -0600 )edit

Thanks Marti Morta, I'll surely have a look on the things you've mentioned.

SivamPillai gravatar image SivamPillai  ( 2012-04-04 13:30:14 -0600 )edit

Hi sivam,I am working on a similar project and I am using ROS of-course. I would like to know how far you have progressed and your future plans regarding your project. Here is my email id: Please ping me your answer to that.

metal gravatar image metal  ( 2012-07-16 11:10:48 -0600 )edit

answered 2012-03-27 23:49:15 -0600

Hi Marti Morta,

Thanks a lot for that piece of information. Now I am able to visualize my LIDAR output in rviz. However, the .Global status still shows an error stating the frame [/laser] does not exist.

I also get the output in a flipped position. Is this the default form of display or can this be modified?

Any information on this would be helpful.


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you can check your tf with rosrun tf view_frames and see if /laser exists or not. You can change the orientation of the viewport if your visualisation is orbit (View > Views > Orbit). I'd reccommend you to revise the tutorials and rviz, tf, etc pages in

martimorta gravatar image martimorta  ( 2012-03-28 03:06:06 -0600 )edit

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Asked: 2012-03-27 04:13:12 -0600

Seen: 7,001 times

Last updated: Mar 30 '12