transformLaserScanToPointCloud usage problem.
Hi. I'm trying to de-rotate (project) LaserScan message using IMU. p_base_frame_ is a string "base_stabilized". scan is scan message. const sensor_msgs::LaserScan& scan. sensor_msgs::PointCloud laser_point_cloud_; tf::TransformListener tf_;
Following is successful.
tf::StampedTransform laserTransform; tf_.lookupTransform(p_base_frame_,scan.header.frame_id, scan.header.stamp , laserTransform);
But, following is not successful.
transformLaserScanToPointCloud(p_base_frame_ , scan, laser_point_cloud_, tf_);
I don't know why. It basically find same transformation which is "base_stabilize" to "laser". It exist. I confirmed by "rosrun tf view_frame".
Saying just '.. is not successful' makes it hard to infer what's going wrong. Please always post the complete error message and make sure you have a look at the support guidelines: http://www.ros.org/wiki/Support