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unable to get point cloud from /camera/depth/points in rviz

asked 2012-09-23 09:18:13 -0600

trailblazer19 gravatar image

updated 2012-09-23 10:45:28 -0600

Eric Perko gravatar image

I did :

rostopic echo /camera/depth/points

it seems topic is publishing messages. However, when i launch rviz- setting fixed frame to /camera_link or /camera_depth_frame or /camera_depth_optical_frame ( tried all seprately)

i get the following error when i subscribe to /camera/depth/points:

Transform= For frame [/openni_rgb_optical_frame]: Frame [/openni_rgb_optical_frame] does not exist

Any ideas on what am i doing wrong here ?

Also, point cloud data from /camera/depth_registered/points is currently displayed.

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Could you include the roslaunch command you are using to start up the driver?

Eric Perko gravatar image Eric Perko  ( 2012-09-23 10:46:30 -0600 )edit

roslaunch openni_camera openni_node.launch

trailblazer19 gravatar image trailblazer19  ( 2012-09-27 11:09:37 -0600 )edit

@Boris - i ran the echo frame_id command and got back /openni_rgb_optical_frame . I manually entered it in the Fixed frame under Global Options but it gives me frame does not exist error.

trailblazer19 gravatar image trailblazer19  ( 2012-09-27 11:17:34 -0600 )edit

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answered 2012-09-23 16:28:28 -0600

When OpenNI publishes point cloud it sets up frame_id to some prespecified value, but it does not create a real tf frame. The frame_id simply says that points were acquired with respect to that frame.

To check the frame_id of your point cloud use the following command:

$ rostopic echo -n 1 /camera/depth/points/header/frame_id

Then, either manually fill in the value you get to Fixed frame in RViz or define a new tf transformation with static_transform_publisher, for example:

$ rosrun tf static_transform_publisher 0 0 0 0 0 0 /world /openni_rgb_optical_frame 100
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I did what you said but i still dont get a display on RVIZ, i still get the error For frame [/openni_rgb_optical_frame]: Fixed Frame [/openni_rgb_optical_frame ] does not exist

ctguell gravatar image ctguell  ( 2013-06-17 13:56:59 -0600 )edit

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Asked: 2012-09-23 09:18:13 -0600

Seen: 4,094 times

Last updated: Sep 23 '12