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so, I have d435 intel realsense camera and it is mounted at 1.3 meters above the floor:
I've tried to use pointcloud_to_laserscan package and I've got laserscan data angled:
How can I get laserscan data parallel to the floor?
Your getting this problem because pointcloud_to_laserscan is using your RGB-D cameras frame of reference instead of a leveled one which compensates for it's angle.
You can use the ~target_frame parameter to reference a different TF frame which can fix this.
You'll need to use a static_transform_publisher to add a new frame to your robot with the z axis facing horizontally away from the base and y axis pointing down. Then set the ~target_frame parameter to this new frame.
Hope this helps.
It depends if pointcloud_to_laserscan uses the optical frame convention instead of the standard ROS frame convention. So the base_footprint frame may be oriented the wrong way for this. But give it a try and let us know.
Asked: 2019-09-12 04:25:01 -0600
Seen: 352 times
Last updated: Sep 12 '19
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