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Display PointCloud Rviz

asked 2019-02-12 10:01:41 -0500

karl gravatar image

Following the Laser Scanner Data tutorial

I have managed to run the scan to point cloud converter but it seems wrong :

[ WARN] [1549986829.427357513]: MessageFilter [target=base_link ]: Dropped 100.00% of messages so far. Please turn the [ros.laserprojection.message_notifier] rosconsole logger to DEBUG for more information.

What is this error ?

Also, I can't display the point cloud in Rviz, I don't know how to choose Fixed frame...

image description

Any ideas ?

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answered 2019-02-12 16:26:35 -0500

kolya_rage gravatar image

Check that you have a proper header: it should have time stamp, so the ROS thinks the data is fresh. Make sure you do something like this msg.header.stamp = ros::Time::now();

You gave to your point cloud frame_id "my_cloud". The thing is that ROS should now how to transform from the world coordinates to your local coordinate system. So you should cast the transformation. The easiest way to do so is to use console command which will broadcast transformation to ROS

static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

In your case that would be

static_transform_publisher 0 0 0 0 0 0 base_link my_cloud 1

Hope this will help.

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Asked: 2019-02-12 10:01:41 -0500

Seen: 575 times

Last updated: Feb 12 '19