Can't view lidar points in rviz.

asked 2020-02-13 18:16:41 -0500

Pujie gravatar image


I try to view the lidar points in Rviz, and I tf broadcast topic /scan to /world. But I don't write a tf listener. Here is broadcaster.

#include <ros/ros.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "lidar_tf");
  ros::NodeHandle node;
    static tf2_ros::TransformBroadcaster br;

    ros::Rate r(100);

  geometry_msgs::TransformStamped transformStamped;

  transformStamped.header.stamp = ros::Time::now();
  transformStamped.header.frame_id = "world";
  transformStamped.child_frame_id = "scan";
  transformStamped.transform.translation.x = -0.12;
  transformStamped.transform.translation.y = -0.057;
  transformStamped.transform.translation.z = 0.0101;
  tf2::Quaternion q;
  q.setRPY(1.6620416578885813e+00, 2.7298435352041510e-02,1.5608089396014240e+00);
  transformStamped.transform.rotation.x = q.x();
  transformStamped.transform.rotation.y = q.y();
  transformStamped.transform.rotation.z = q.z();
  transformStamped.transform.rotation.w = q.w();


  return 0;

Here is what my rviz show. image description

When I rostopic echo /scan, I do get the data.I am pretty sure /scan really return the data. However, I can't find scan points in rviz.

Could you please help to give any recommendation?

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what happens if you change global options from world to scan , do you see laserscan then ?

atas gravatar image atas  ( 2020-02-13 19:12:33 -0500 )edit

It seems that something wrong in my broadcaster. Because when I turn off the broadcaster, and then I set Fixed frame as "scan", the lidar points show. Thank you for your recommendation.

Pujie gravatar image Pujie  ( 2020-02-13 19:18:01 -0500 )edit

you may consider to use tf static_transform_publisher, if your LIDAR is fixed to the base which I think it should be. This could be frequency related,just a wild guess

atas gravatar image atas  ( 2020-02-13 19:20:56 -0500 )edit