shouyu@shouyu-Nitro-AN515-55:~/nav2ws$ env | grep ROS ROSVERSION=2 ROSPYTHONVERSION=3 ROSLOCALHOSTONLY=0 ROS_DISTRO=galactic

Hello all,

I have a robot that is running gazebo with a simulated lidar message. I have got myself a intel real sense-camera that I would like to use to fuse the pointcloud message into the local costmap.

Problem: I am able to launch the realsense camera and subscribe to the pointcloud message it output in rviz2 when I set globalOption-> FixedFrame to base_link frame (see figure 1), however, I cannot see any pointcloud message when I switch from base_link frame to odom frame (see figure 2).

Moreover, when I try to double check my tf-tree by running the viewframe tool, I did have a tf transfrom from odom to baselink(see figure 3)

Figure 1

Figure 2

Figure 3