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

asked 2021-08-02 15:26:05 -0500

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

edit retag flag offensive reopen merge delete

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

Comments

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

gvdhoorn gravatar image gvdhoorn  ( 2021-08-03 02:46:51 -0500 )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 -0500 )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 -0500 )edit
add a comment