Want to convert Laser scan messages to world frame.

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kinetic

asked 2020-12-31 10:17:41 -0500

Mateen
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Hello, I am working on a hardware project which has a 2D SICK LiDar LMS1xx mounted in the vertical direction. I am using RVIZ to visualize the laser data. At the moment, I am able to visualize the data in the Laser Frame (uses right hand axis formation). I want to visualize the Lidar data in world frame rather than Laser's frame. Can anyone guide me in this regards please?

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answered 2021-01-01 22:39:46 -0500

Akhil Kurup

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You will have to make sure there exists a tf frame between your laser data frame to world frame. There are a few ways of doing this as given here. Essentially, you can view them in rviz (by subscribing to tf and viewing the tree) or listen in on the terminal using tf_echo. Once you make sure that there is a tf frame from laser frame -> world frame, you can just change the fixed frame in rviz (top left) to the world frame to view laser data transformed into the world frame. If there isn't a tf link from laser frame -> world frame, you will have to make one, either in your urdf xacro file or by creating a static transform.

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I tried tf_echo but it seems there is no tf data being published. Can you guide me about how to convert LiDar (Laser) Data and IMU data in world frames. So That I can apply transformations to get all data aligned with world frame. I shall be thankful to you

Mateen ( 2021-01-03 07:54:31 -0500 )edit

For now, you can create a static transform for testing purposes. But in the long run, you should have a working tf tree as mentioned in this tutorial.