0
$\begingroup$

Rosanswers logo

I tried to view a pointcloud2 message in rviz in /base_link frame. So i wrote a static transform publisher which published a tf base_link->camera_link. The pointcloud2 can be successfully viewed when fixed frame is camera_depth_frame but when i select fixed frame to be base_link the display stops and the pointcloud2 message in Rviz turns red.

What could be possibly wrong..? I am supplying the required Tf, then why does the pointcloud2 message does not transform to /base_link frame.

P.S.

1.During the above process the target frame is always filled with the option of fixed frame

2.The source of all the data is a bag file from Kinect.

3.Also i run roslaunch openni_launch openni.launch load_driver:=false. EDIT: Added the screenshot image description


Originally posted by Karan on ROS Answers with karma: 263 on 2013-01-19

Post score: 3


Original comments

Comment by Ben_S on 2013-01-19:
Sounds like a problem with your transforms (what does the red text say?). Please run rosrun tf view_frames and upload the output somewhere.

Comment by Karan on 2013-01-19:
The error says "Message removed because it is too old" could this be because i didnt record the tf message at the time i recorded the bag file from Kinect..? But i also ran rosparam set use_sim_time true

Comment by Ben_S on 2013-01-19:
Your tf-tree looks fine. Try disabling use_sim_time. Or if you leave it enabled, make sure that you are adding the --clock parameter to rosbag play

Comment by Karan on 2013-01-20:
Hey the problem found to be was that i didn't record tf messages at the time I recorded the Kinect data. So later when I played the data using rosbag --clock parameter , i also had to play the tf_broadcaster with --clock parameter. With this the error disappeared..!!

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

I had a similar issue, I had to use the following param.. rosparam set /use_sim_time true along with the --clock by Ben_S


Originally posted by jimbo with karma: 36 on 2013-05-28

This answer was ACCEPTED on the original site

Post score: 0

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.