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Unknown reason for transform error

asked 2019-03-24 20:08:36 -0600

nkp1215 gravatar image

updated 2019-03-25 09:10:27 -0600

We are building a robot for a competition and using ROS for navigation. I'm attempting to get the LASERscan data onto a static map. However, whenever it's on base_footprint the laserscan data it doesn't come up, but when the fixed frame is switched to laser_frame, it shows.

I tried to attach pictures but was unable too. But base_footprint is publishing to laser_frame.

Also my lidartransform node is publishing to a /tf node. Map server publishing to /map. And ydlidar publishing to /scan.

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Hi nkp1215, You need to be a bit more elaborate. "However, whenever it's on base_footprint, it doesn't come up, but when the fixed frame is switched to laser_frame, it shows." It shows where? In RVIZ? Can you please edit the question with the output of rosrun tf view_frames ?

janindu gravatar imagejanindu ( 2019-03-24 21:03:36 -0600 )edit

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answered 2019-03-25 09:17:38 -0600

Procópio gravatar image

Your tf tree is probably disconnected. You likely need to publish a static transform from your "laser_frame" to your "base_footprint".

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Currently, the base_footprint is publishing to laser_frame. Does this need to be switched if so how?

nkp1215 gravatar imagenkp1215 ( 2019-03-25 13:59:53 -0600 )edit

@nkp1215 please elaborate more your question and post the output of rosrun tf view_frames, as mentioned by @janindu

Procópio gravatar imageProcópio ( 2019-04-03 03:01:38 -0600 )edit

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Asked: 2019-03-24 20:08:36 -0600

Seen: 142 times

Last updated: Mar 25