lxa199709
commented
2 years ago excuse me ,can you tell me do you solve the problem at the end?
Closed rlaehddls9 closed 3 years ago
lxa199709
commented
2 years ago excuse me ,can you tell me do you solve the problem at the end?
env : ubuntu 18.04, apollo v6.0
I want to run the hesai(Pandar64). Specifically, I want to visualize the environment around the hesai lidar(Pandar64). However, the following error occurs.
When I run this code ('cyber_launch start /apollo/modules/drivers/lidar/hesai/launch/hesai64.launch') in docker below problems are happened.
[hesai ] E0526 20:40:07.985287 8025 compensator.cc:34] [velodyne]Can not find transform. 946699271142493952 frame_id:hesai64 Error info: canTransform: target_frame world does not exist. canTransform: source_frame hesai64 does not exist.:timeout
Even if the above error occurs, cyber_visualizer visualizes the point cloud data received by hesai as shown in the picture below.
However, the data in this picture does not properly visualize the surrounding environment. It seems that transform should be done, but if I go to the apollo/modules/transform path, velodyne's transform launch file exists, but hesai's transform launch file does not seem to exist.
Question I would like to ask for advice on how to perfrom the transform of hesai(pandar64) so that the surrounding environment cat be well visualized with a compensator.