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How to setup tf frame for /laser_scan msg to display in rviz

asked 2019-01-04 06:58:30 -0600

waddlelim gravatar image

I have setup my laser properly, able to display a topic called laser_scan, However when i display it on rviz, there was no visual display, despite having receiving messages and with no error received. I have tried tuning the size and display still was not found. I figured that my tf frame may be set up wrongly.

Can i clarify that i just have to follow the steps as like the tutorial in the link?

If so, is there any line of codes that I have to change to fit my case? And theres TF Publisher and TF Listener which i get confuse of how they work. Is it i put in the TF Listener in my laser code? Or do i just put tf publisher and listener in the same package file. Thanks a lot!

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answered 2019-01-04 07:02:35 -0600

gvdhoorn gravatar image

You don't need to write any code.

Just make sure to set the Fixed Frame configuration item in RViz to the value that is used in the frame_id of the header of the incoming LaserScan messages.

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PS: this is of course only a very rudimentary setup to be able to visualise LaserScan msgs in isolation. For proper use, I'd recommend creating a URDF with the appropriate link names.

gvdhoorn gravatar image gvdhoorn  ( 2019-01-04 07:02:43 -0600 )edit

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Asked: 2019-01-04 06:58:30 -0600

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Last updated: Jan 04 '19