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Field-Robotics-Japan / UnitySensors

ROS/ROS2 enabled Sensor models (Assets) on Unity
Apache License 2.0
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Map GameObject is missing in Sensors Scene #16

Closed JaVo93 closed 2 years ago

JaVo93 commented 2 years ago

Hi,

in the Sensors Scene the map GameObject is missing as I saw in the Gif. This leads to the error when users want to visualize the LaserScan in rviz: For frame [scan_link]: Fixed Frame [map] does not exist.

Further the recursive clone of the other two projects does not work.

Best regards

RyodoTanaka commented 2 years ago

Thank you for the question. I missed to write the launch file to publish TF info from map to velodyne and scan_link. The solution is, adding the following code into your launch file.

<launch>
  <node pkg="tf" type="static_transform_publisher" name="velodyne_tf" args="-2 0 0.6378 0 0 0 map velodyne 100" />
  <node pkg="tf" type="static_transform_publisher" name="scan_link_tf" args="-1.907 0 0.32 0 0 0 map scan_link 100" />
</launch>

Bests,

RyodoTanaka commented 2 years ago

@JaVo93 Did you solve the problem ? If so, please close this issue or comment your updated problem.

If you do not update this issue until this month (2022/05), I will close this as solved issue.