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rviz integration with different frames and sensors

asked 2012-04-04 13:49:51 -0500

updated 2014-01-28 17:11:52 -0500

ngrennan gravatar image

Heyy People,

I am a recent user of ROS and rviz. I am currently using Husky A200 for my project activities and I found rviz to be particularly interesting.

I displayed my Hokoyu LIDAR output on rviz. However, there was still an error shown on the .Global parameters section saying the frame /laser does not exist. This happens further, to any new frame that I wish to see but that does not exist in the drop-down list.

How should I modify rviz so that these frames are visible in the dropdown list or work with no errors? Further, I am wanting to solve this issue in the context of localization and mapping so that I see in real-time the map development using rviz.

My tf frames only consists of the Camera frames from my Kinect as follows: /camera_link

/camera_rgb_frame , /camera_depth_frame

/camera_rgb_optical_frame , /camera_depth_optical_frame

Any help in this regards would be appreciated. Thanks.

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What does your tf tree look like? (what frames exist?) If you're not sure, you can use "rosrun tf view_frames" to display the full tf tree.

Ryan gravatar image Ryan  ( 2012-04-04 14:25:54 -0500 )edit

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answered 2012-04-04 22:48:13 -0500

Procópio gravatar image

For each sensor measurement you have, there must be a frame associated to it. And the frames should be connected on a tree. I am guessing that you are missing a link in that tree, to reference your laser frame to the /map or /world frame, for example.

You can create static frame transformations in a launch file, if that is the case:

ROS static transform

regards

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answered 2012-04-05 00:35:39 -0500

Yes Ryan,

I had tried this before, although I forgot to mention and all I get are the frames related to Kinect as:

/camera_link

/camera_rgb_frame ,
/camera_depth_frame

/camera_rgb_optical_frame ,
/camera_depth_optical_frame

Thanks for help.

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hey! you should try to post your updates or new comments in your original question, instead of creating new answers. if you look at the way it is now, you gave an answer that does not answer at all your question. cheers!

Procópio gravatar image Procópio  ( 2012-04-05 22:20:06 -0500 )edit

ok got it man.. thanks... earlier I used to put the updates as comments to avoid it to be an answer... bt the size of the comments were short n so I started replyin as answers... nw I realize I cud hav instead modified the question to update... wil do it next time. Regards

SivamPillai gravatar image SivamPillai  ( 2012-04-06 08:28:40 -0500 )edit

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Asked: 2012-04-04 13:49:51 -0500

Seen: 1,441 times

Last updated: Apr 06 '12