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What is the base frame in velodyne's transform_nodelet? [closed]

asked 2013-07-24 03:18:13 -0500

Gabor Meszaros gravatar image

updated 2013-07-24 03:20:26 -0500

I would like to transform the Velodyne LIDAR data before publishing it as a point cloud.

If I understand correctly the purpose of TransformNodelet in velodyne package is exactly this. In order to perform this transformation I have to publish a new frame that will be used by the TransformNodelet. For example:

rosrun tf static_transform_publisher 0.0 0.0 0.0 1.0 1.0 1.0 1.0 /what_is_this /my_frame 500

My problem is I do not know what is the base frame. Do anybody know what is its name?

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Closed for the following reason the question is answered, right answer was accepted by Gabor Meszaros
close date 2013-07-28 22:10:56

1 Answer

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answered 2013-07-24 05:46:00 -0500

joq gravatar image

The frame ID of the device is determined by the frame_id parameter passed to the driver. The default is /velodyne, but you can set it however you like.

The frame_id parameter passed to the transform nodelet (or node) sets the frame ID into which the data will be converted. The default is /odom, which is the ROS convention recommended by REP-0103 for mobile platforms. You can set that however you like, as well.

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Thank you, it works now. I also had to fix something in the code. I will create a patch as soon as possible. Update: Fixed.

Gabor Meszaros gravatar image Gabor Meszaros  ( 2013-07-25 01:06:51 -0500 )edit

Thanks. I joined this group to say you thank you. Where can i see the frame id for velodyne? I never could found that.

Braad gravatar image Braad  ( 2016-08-04 12:24:29 -0500 )edit

If you look at the header.frame_id of any message published, that is the one the driver was configured to use.

joq gravatar image joq  ( 2016-08-04 17:53:18 -0500 )edit

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Asked: 2013-07-24 03:18:13 -0500

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Last updated: Jul 24 '13