Hi,
I'm trying to use gmapping, RVIZ, etc. I wrote a urdf file to describe my robot. I have a problem with transform. I have to provide a base_link to laser_frame transform. Should I write this transform or does it already exist in hokuyo node ? If I have to write if, do I need to transform every points of the laser scan ?
Thanks
Originally posted by elfugao on ROS Answers with karma: 11 on 2011-10-13
Post score: 1
The transform should be in your URDF file. You should have a link base_link that is your base and a hokuyo link that is the laser_frame. You use a robot state publisher that will send out these transforms automatically from the URDF.
Originally posted by dornhege with karma: 31395 on 2011-10-13
This answer was ACCEPTED on the original site
Post score: 2
Comment by 2ROS0 on 2014-07-02:
I wrote a tf_broadcaster to send transform between base_link and laser and also tried tf's static_transform_publisher. Is this okay?
Because when I launch rviz, I cannot visualize the laser scan with base_footprint or base_link as the fixed frame although tf view_frames shows everything correctly.