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how to create world frame!!!

asked 2013-10-27 03:40:29 -0600

VahidD gravatar image

updated 2016-10-24 09:03:29 -0600

ngrennan gravatar image

Hi all,

I've worked on simulated husky with simulated kinect to create a customize 3d occupancy map, i want to transform the pointcloud frame to map or world frame, but i don't have these frames, just i can translate to odom frame, for creating 3d occupancy map, is it enough or i should add a link in my urdf or any thing else to create world frame ?! Thank you.

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How could you do it?

Abdulbaki gravatar imageAbdulbaki ( 2017-10-06 04:30:02 -0600 )edit

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answered 2013-11-01 04:00:48 -0600

Ryan gravatar image

The easiest way would be to use static_transform_publisher to add a link between your Kinect frame and the simulated Husky base_link. That represents the physical link between the Husky and the sensor.

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Asked: 2013-10-27 03:40:29 -0600

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Last updated: Nov 01 '13