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CCNYRoboticsLab / scan_tools

ROS Laser scan tools
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Laser Ortho Projector #50

Open raynerthestoner opened 7 years ago

raynerthestoner commented 7 years ago

Hi,

I realize the code requires the use of either an imu or a geometry_msgs/pose. I do not have an imu. May I know how to get the pose of my 2D RPLidar A2 sensor? The pose and use_pose is not documented anywhere in the package summary, so I have no idea how to make this node work properly as it is not providing the base_ortho tf transformation.

Thanks!

ubuntuslave commented 7 years ago

you may just publish a static tf for the base_ortho and set it to identity or to an estimated transform of your laser_base_frame or whatever it was called (I already forgot exactly). If you understand the transform links, then fixing the code to make it work without an IMU is possible although not intended for mapping nor height estimation because the relative pose of the laser scanner would be unknown.

raynerthestoner commented 7 years ago

I am planning for my robot move on level ground but with a sensor tilted at a fixed pitch angle. If I have static tf transforms of world to base link , world->base_ortho , base_ortho->laser , (the tf transform for base link and base_ortho are in the same position) it should work right? Currently what I see on RVIZ is that the pointcloud2 is not accurately projected vertically downwards as shown in this picture. Is there a reason why it is like this?