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How to display .bag file in rviz using LeGO-LOAM

asked 2019-06-24 17:41:28 -0500

Nurbek gravatar image

updated 2019-06-24 18:41:55 -0500

jayess gravatar image

I installed successfully lego-loam ( and would like to run my .bag file (map using velodyne 64 3D lidar). However I see anything in rviz display, and error says:

Fixed Frame [map] does not exist

Could you please help me, how i can see my pre-created map in the format of .bag file.

I am doing following steps:

  1. roslaunch lego_loam run.launch --- rviz opens after this command
  2. rosbag play ('my bag file')

Thank you in advance

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answered 2019-06-25 08:30:50 -0500

Nurbek gravatar image

proper tf tree was the answer. Thanks a lot! Problem is solved

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answered 2019-06-24 20:03:18 -0500

cassini.huygens gravatar image

Please list the topics that you want to visualize in Rviz. As an additional comment, you need to make sure to have the proper tf tree of your system (how camera is connected to base_link etc you might want to create a transform boradcaser launch file to create the tf tree of your system so you can visualize everything you want at once in Rviz.

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Asked: 2019-06-24 17:41:28 -0500

Seen: 505 times

Last updated: Jun 25 '19