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thunderbots-at-home / athomesoftware

Thunderbots@Home software repository
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Instantiate LIDAR in URDF for use with nav stack/TF #63

Closed TheDash closed 10 years ago

TheDash commented 10 years ago
  1. Put it in URDF
  2. Correct locations
  3. Publish a transform for use with /odom and /map
TheDash commented 10 years ago

Time logged: 1.5 hours

TheDash commented 10 years ago

For those interested: it is publishing laser data on the /base_scan topic.

michaelmoritsugu commented 10 years ago

Does the lidar need a transform if it's a) not moving, and b) already defined in the urdf?

TheDash commented 10 years ago

Sorry. I had read the specs wrong. What needed to be done is to add the hokiyo laser to the urdf with the topic base scan. That does the correct transform to the base, which there is then a static transform to the map On Feb 27, 2014 1:16 PM, "Michael Moritsugu" notifications@github.com wrote:

Does the lidar need a transform if it's a) not moving, and b) already defined in the urdf?

Reply to this email directly or view it on GitHubhttps://github.com/thunderbots/athomesoftware/issues/63#issuecomment-36286161 .

TheDash commented 10 years ago

Time logged: 1.5 hours Complete, there's so many little hacks in the commits. Above list is checked off.