How to use tf_broadcaster for my mobile robot?

asked 2018-11-02 05:03:50 -0500

GLV gravatar image

Hi everyone,

I am doing this tf2 tutorial

tf2 TutorialsWriting a tf2 broadcaster (Python)

link text

How can I use tf2_broadcaster and listener for my mobile robot (having laser scan). What are the changes I need to do in launch file of tf2_broadcaster in above tutorial?

Thanks in Advance!!!

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Comments

1

What do you want to achieve using the TF broadcaster exactly? You haven't told us yet.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-11-02 06:53:31 -0500 )edit

Actually I build own wheel mobile robot with hokuyo laser sensor in Gazebo simulator. I want to get the data from sensor in Rviz for that it requires to add fixed frame. So I want to know how can I add world frame as a fixed frame and how to add tf in Rviz.

GLV gravatar image GLV  ( 2018-11-02 07:40:35 -0500 )edit
1

If you need to add a static transform to your robot you can use the static_transform_publisher node and start it from a launch file. When this is added to the TF tree you will see it in RVIZ along with all the other frames.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-11-02 09:51:36 -0500 )edit