Hello All, I am new to ROS and I have looked on this portal to check if I am repeating this question but I have not found any satisfactory answer so far. here is what my query is :
I have a LMS400 laser scanner interfaced to ROS using the driver that I pulled from TUM-ROS. I am able to interface to the laser scanner and I am able to publish data that I can see in RVIZ. I also assembled the scans and converted that to a point cloud and I am able to see the point cloud too. However the main issue that I am facing is that the laser scans or the point clouds both render the data on a 2d axes. As I move the scanner in the third axes I do not see the laser scan or the point cloud move in that axes in rviz. Currently I have a fixed frame lms400_tilt_laser that is entered by me as per that frame id in the driver code. I realize that I have to do a transform from this frame to "world" frame or something of this sort but it is still not very clear to me as I think I have not understood the concept of transforms very well. Moreover the standard tutorials refer to the turtle sim and have dependencies that I do not need and cannot remove easily either. Can someone throw light on what to do here and what direction to follow.
Here is a video of what I am able to get running so far. https://youtu.be/afzko7oi1Wc
Hoping to get some answers from experts here.
Thanks and regards ajaymn
Post score: 0