Waiting for tf transformation to be available. (Message is throttled, 10s.)

[zhanghua7099]

Hi!

I found that elevation mapping needs the transformation tree as input. For now, I didn't have this input. Can you give some details?

Thank you!

[Magnusgaertner]

Hi @zhanghua7099,

you may want to have a look at the Simple Demo for a static setup to use elevation_mapping. In general, you are right that elevation_mapping expects a transformation tree to be available. Thus, the simplest option is to add a static transform publisher to specify a rigid, static transform

  <node pkg="tf" type="static_transform_publisher" name="world_to_robot" args="2.0 6.0 0 0 0.0 0 /map /base 100"/>

See

• https://github.com/ANYbotics/elevation_mapping/blob/master/elevation_mapping_demos/launch/simple_demo.launch#L19
• https://github.com/ANYbotics/elevation_mapping/blob/master/README.md#simple-demo--ground-truth-demo

[zhanghua7099]

Thank you very much! The code runs well.