publish the point cloud of the lidar in its own frame

fsstudio-team / ZeroSimROSUnity

Robotic simulation in Unity with ROS integration.

https://roboticsimulationservices.com/

MIT License

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publish the point cloud of the lidar in its own frame #16

Closed bj108 closed 2 years ago

bj108 commented 2 years ago

Hi there, could it be possible to publish the point cloud of the lidar in its own frame (i.e. lidar_link) not the base_link frame? If yes, could you instruct the steps to set it up, please? Thank you.

micahpearlman commented 2 years ago

Apologies, I'm not sure I'm following the question. You can set the "Parent Transform Id" to whatever you wish in the ZOROSPointCloud2Publisher component.