Delay after coordinate transform

asked 2019-12-11 15:34:28 -0600

lsy gravatar image

hello everyone,

I want to overlay pointcloud on image. What I have so far is this:

  1. subscriber topic cloud and use tf2 do transform and publish new topic cloud_trans
  2. pointcloud segmentation
  3. Creating the composite LIDAR image

When I use rviz to see composite image, there is delay between pointcloud and image. And then I found there is huge delay between point in cloud and cloud_trans How can I fix it? Thanks in advance

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