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

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

Gabor Meszaros
65 ●3 ●4 ●9

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?

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

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

joq
25443 ●181 ●256 ●408

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.