No laser scan received, amcl tf conversion problem
In ouster lidar, 3D point cloud converted to 2D laser scan, I have checked the laser scan data using rostopic and it is working properly. But in tf frame, the map ->odom is not conversion not happening. If I add static_transform_publisher it is working, but no localization as amcl not linked. If I connected velodyne lidar or Rplidar there is not problem. frame id details:
map_frame_id:map
base_frame_id:base_link
odom_frame_id=odom
scan topic:/scan
<node pkg="tf2_ros" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0.1 0 0 0 1 base_link os1_lidar" />
What is the frame_id of /scan? Also, when you look at the graph with
rosrun tf view_frames, are the base_links connected to the scan?yes.Base link connected to scan, frame id of /scan is os1_lidar.
conditions for amcl to localize appear to have been met. Sorry, I don't have an idea for a solution.