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2016-06-16 00:12:38 -0500 asked a question Why using FLOAT32 to indicate coordinate in sensor_msgs::PointCloud2?

I'm confused a lot in this question, why float32 rather than int32 for Cartesian Coordinate?

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2015-12-22 07:21:50 -0500 answered a question Error while building map with slam

Maybe you ran out of the memory.

2015-12-22 06:39:08 -0500 commented answer How can I build a tf which is required by gampping?

Thank you, let me give it a try.

2015-12-22 06:30:51 -0500 commented answer How can I build a tf which is required by gampping?

But some keywords like "camera_depth_frame", "camera_link"... Broadcasting them direct without any define or export? I set "false" as a default for "publish_tf" in ".../freenect_launch.launch". Thanks.

2015-12-22 06:24:37 -0500 asked a question How to build tf transforms which is required by gmapping?

I really can not understand how to combine scan to base_link, and depthimage_to_laserscan do not broadcast any tf transform.

In http://wiki.ros.org/gmapping it reads:

(the frame attached to incoming scans) → base_link

usually a fixed value, broadcast periodically by a robot_state_publisher, or a tfstatic_transform_publisher.

And Turtlebot has tf transforms like this (I work out Odom->base_link, so leave out of them.):

                         base_link
                             |
                 -----camera_rgb_frame------
                |            |              |
    camera_depth_frame  camera_link  camera_rgb_optical_frame
                |
    camera_depth_optical_frame

My kinect is fixed on the underpan, does it need a URDF file? Or just use static_transform_publisher is fine?

Sincerely.

2015-12-22 06:13:16 -0500 asked a question How can I build a tf which is required by gampping?

I finished base_link → odom tf like this

    map
     |
   odom
     |
 base_link

But in another required tf transform, it reads

(the frame attached to incoming scans) → base_link usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher.

( http://wiki.ros.org/gmapping )

I can not understand how to build tf: scan→ base_link , and depthimagine_to_laserscan(I use kinect) do not provide any tf Transform.

And tf transforms in Turtlebot like this:

                                 map
                                  |
                                odom
                                  |
                              base_link
                                  |
                  ---------camera_rgb_frame-------
                  |               |              | 
    camera_depth_frame     camera_link   camera_rgb_optical_frame
                  |
    camera_depth_optical_frame

So, how can I combine scan data to base_link and broadcast this tf like turtlebot?

Some keywords like "camera_depth_frame", "camera_link"... Broadcasting them direct without any define or export?

And my kinect is fixed on the underpan, does it need a URDF file, or just use static_transform_publisher is fine?

Sincerely