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TF2 Static Transform publisher for rotated Lidar

asked 2022-03-03 14:23:35 -0600

chm007
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HI All,

I am a bit new to this. I have a robot with the scanner (RPLIDAR) located at the center of the the robot base, but it is rotated 90 degrees about axis z . What should I set the qw value for my static transform, its it needed? In the example I saw it set to 1 ? I tried below but it does not reflect the proper 90 degree rotation in rviz.

node pkg="tf2_ros" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 1.571 1 base_robot base_laser"

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answered 2022-03-03 18:08:48 -0600

Mike Scheutzow
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You don't have to use quaternion notation for a static_transform_publisher, because it accepts yaw-pitch-roll in radians.

Beware! Euler angles are usually r-p-y in ros, but for this particular node the developers did it y-p-r.

So if you are looking down at the robot from above, and if your lidar is rotated 90 degrees counterclockwise from the robot's x-axis, then the y-p-r angles (in radians) are:

1.571 0 0

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@ Mike Thank you will try that. I was reading the TF example and saw they had quanternion notation. I will try it using y-p-r and report back here. Thanks again.

chm007 ( 2022-03-03 19:00:46 -0600 )edit

@ Mike thank you this worked.

chm007 ( 2022-03-25 06:42:21 -0600 )edit

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Asked: 2022-03-03 14:23:35 -0600

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Last updated: Mar 03 '22

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TF2 Static Transform publisher for rotated Lidar