transforms for laser

asked 2012-07-31 05:15:08 -0500

Brad
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I recently wrote a ROS node for an older hokuyo laser. I wrote my own node because my laser is older and uses a protocol that is not supported by the hokuyo_node ROS package. My node is successfully publishing laserscan messages and I would like to view the laser scans in RViz. I'm having a problem viewing the data in RViz. The error I get is: Transform [sender=/hokuyo_pub] For frame [robot_pose_ekf/odom]: Frame [robot_pose_ekf/odom] does not exist

I think the problem involves transforms. I had to specify a frameid in the header of my laserscan message. I wasn't sure what to put here but tried: robot_pose_ekf/odom. I am using turtlebot.

Thanks for any advice!

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answered 2012-07-31 05:39:19 -0500

DimitriProsser

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Ideally, I would suggest that you write a transform publisher for your laser scanner using the tutorials located in the tf package. You must publish the laser scan data in a frame that exists on your Turtlebot. If you don't know what these frames are, you can use the following to see all of the transforms published on your robot:

rosrun tf view_frames

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answered 2012-07-31 15:42:39 -0500

weiin
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Contrary to Dimitri's answer, I would suggest either publishing the scan message with "laser" as the frame_id, or extending your laser driver with the driver_base::Driver class (like what is done in the current hokuyo_node).

I do not think you need a transform publisher specifically for the laser if it is static. The turtlebot urdf can be updated with the laser link, and let robot_state_publisher handle the tf.

This way, your laser can be used for any other robots, or on its own, when needed.

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Updating the URDF is also a valid solution. However, not all robots run robot_state_publisher and, if that's the case, you can't rely on it to publish your transform. I do agree that the scanner should publish messages in its own frame, which needs to be set up using either of these methods.

DimitriProsser ( 2012-08-01 03:50:33 -0500 )edit

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