Open k-mohit opened 5 years ago
hello there, I'm facing the same problem. It's seems like there is no fixed frame for TF. we need to add a tf to rviz, But I don't know how yet.
@oldjimmypku I think it is possible with static_transform_broadcaster
tho not sure how exactly
Hi @mohit-khosti , can you check which frame does Ouster LiDAR is using? I have not had experience with Ouster, but I use Velodyne 16 (it uses /velodyne
frame).
Hey @DangMinh24 i believe it is /os1_cloud_node/points
/os1_cloud_node/points
is a topic, not a tf
frame. To know which frame LiDAR are using, run the viz.rviz
file and look at Global Options -> Fixed Frame
Hi @DangMinh24 thanks for the info, I followed the steps you mentioned and the frames are os1_sensor
os1_imu
os1_lidar
what do I do next?
thanks!
Hi @mohit-khosti, if you use along with the robot (then there will be a frame called odom
or odometry
, then probably you want to make sure there is transition between this frame and the frame that Ouster LIDAR are using (static_transform_broadcaster
is the right tool). However, if you use alone with LIDAR only, probably you want to change parameters in test_online.launch
file.
Try change /velodyne_points
to /os1_cloud_node/points
Hi @DangMinh24 I am only working with the LiDAR sensor and no robot. I did change the parameters in test_online.launch
file, however I see an error in the rviz window "Fixed Frame No tf data. Actual error: Fixed Frame [map] does not exist.
Besides, I am not sure how to implement the static_transform_broadcaster
solution.
Thank you!
@mohit-khosti Can you change fixed
parameter back to world
in base_frames.yaml
file? If you use sensor alone, the original parameter should work fine.
@DangMinh24 I tried looking up the base_frames.yaml
file in the blam folder, however I cannot find it. Is it possible that you meant blam_frames.yaml
?
Hi, I have installed BLAM and now I am trying to get a live visualization with the help of BLAM, but I do not know how to do it. I used the command
roslaunch blam_example test_online.launch
and thenrviz
but I see nothing. Any help will be appreciated