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Error in display of Pointcloud in /base_link frame

asked 2013-01-19 03:45:34 -0500

Karan gravatar image

updated 2013-01-19 04:49:46 -0500

I tried to view a pointcloud2 message in rviz in /base_link frame. So i wrote a static transform publisher which published a tf base_link->camera_link. The pointcloud2 can be successfully viewed when fixed frame is camera_depth_frame but when i select fixed frame to be base_link the display stops and the pointcloud2 message in Rviz turns red.

What could be possibly wrong..? I am supplying the required Tf, then why does the pointcloud2 message does not transform to /base_link frame.


1.During the above process the target frame is always filled with the option of fixed frame

2.The source of all the data is a bag file from Kinect.

3.Also i run roslaunch openni_launch openni.launch load_driver:=false. EDIT: Added the screenshot image description

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Sounds like a problem with your transforms (what does the red text say?). Please run rosrun tf view_frames and upload the output somewhere.

Ben_S gravatar image Ben_S  ( 2013-01-19 04:00:12 -0500 )edit

The error says "Message removed because it is too old" could this be because i didnt record the tf message at the time i recorded the bag file from Kinect..? But i also ran rosparam set use_sim_time true

Karan gravatar image Karan  ( 2013-01-19 04:58:29 -0500 )edit

Your tf-tree looks fine. Try disabling use_sim_time. Or if you leave it enabled, make sure that you are adding the --clock parameter to rosbag play

Ben_S gravatar image Ben_S  ( 2013-01-19 07:09:10 -0500 )edit

Hey the problem found to be was that i didn't record tf messages at the time I recorded the Kinect data. So later when I played the data using rosbag --clock parameter , i also had to play the tf_broadcaster with --clock parameter. With this the error disappeared..!!

Karan gravatar image Karan  ( 2013-01-20 08:25:53 -0500 )edit

1 Answer

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answered 2013-05-28 06:02:12 -0500

jimbo gravatar image

updated 2013-05-28 06:02:54 -0500

I had a similar issue, I had to use the following param.. rosparam set /use_sim_time true along with the --clock by Ben_S

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Asked: 2013-01-19 03:45:34 -0500

Seen: 5,214 times

Last updated: Jan 19 '13