Choosing odom frame misaligns scans from diferent sources? [closed]

asked 2021-08-02 15:26:05 -0600

Pedro Leal gravatar image

Hello, I currently have a system containing a velodyne VLP 16, and an intelrealsense L515. The velodyne's position is slightly above in Z of the base_link and is slightly turned (0.1rads) while the intelrealsense is placed around ~70 cms forward.

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0.7 0.1 0 0 0 0 base_link lidarcamera_link 100" />

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster1" args="0 0 0 -0.10 0 0 base_link velodyne 100" />

In rviz when the static frame is any of the frames that make the robot, the scans from VLP-16 (frame_id velodyne) and the intelrealsense L515 (frame_id lidarcamera) align correctly. However, when I set the frame to be odom (given by robot_localization package) or world (given by laser_scan_matcher), the scans stop being aligned. Why would changing the static frame in rviz affect other transformations? Youtube video showing

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Closed for the following reason duplicate question by gvdhoorn
close date 2021-08-03 09:24:12.354054


Isn't this #q383583? Why did you post another question?

gvdhoorn gravatar image gvdhoorn  ( 2021-08-03 02:46:51 -0600 )edit

The question I sent before as I reread it seemed confusing, and with redundant information, so I decided to rewrite it more to the point.

Pedro Leal gravatar image Pedro Leal  ( 2021-08-03 04:36:36 -0600 )edit

Do not post new questions to "improve" your older one.

Simply edit your existing question, using the edit button/link underneath the question body text.

gvdhoorn gravatar image gvdhoorn  ( 2021-08-03 09:24:41 -0600 )edit