Choosing odom frame misaligns scans from diferent sources? [closed]
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
Isn't this #q383583? Why did you post another question?
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.
Do not post new questions to "improve" your older one.
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