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HesaiTechnology / HesaiLidar_General_ROS

ROS driver for PandarXT PandarQT Pandar64 Pandar40P Pandar40M Pandar20A Pandar20B
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Which tf the Lidar is? #14

Open Carolbelieve opened 4 years ago

Carolbelieve commented 4 years ago

Hi: I want to know which tf the lidar is when I want to transform the information from the Lidar to the odom? I use a 64-lines PandarQT Lidar.

Tones29 commented 4 years ago

I am not completely sure what tf you need. According to this document, page 7, the distance between base plate of the PandarQT and the sensor level is 50.4mm. Everything else depends on you system's setup.

yangfanFred commented 4 years ago

While running, try use command below to see the tf: rostopic echo /topicname > file.txt

Thanks, Fred