No frame update on sick_tim551

[thomassimon]

Hi, I think there is a missing param to change the defaut name of the laser frame. I have change the param in the launch file but there is no change.

[mintar]

Here is how you do it:

<launch>
  <node name="sick_tim551_2050001" pkg="sick_tim" type="sick_tim551_2050001" respawn="false" output="screen">
      <param name="frame_id" type="str" value="my_laser" />
  </node>
</launch>

[mintar]

Oh, and you can check that it's working by running rostopic echo /scan and checking the frame_id.

[thomassimon]

Indeed on the topic, it's the correct frame. But I have checked on the tf monitor and the tf tree. Also I use the launch file of the sick_tim551.

[jspricke]

If it's wrong in the tf tree, it's on your side, check your URDF. The modifications to the launch file proposed by mintar are for the sick_tim551.

[thomassimon]

For the example, do I have to change it in the robot_description and the urdf linked to the package ?

[jspricke]

If you use our urdf macro, change it like: <xacro:sick_tim310 name="my_laser" ros_topic="scan" />, name is the tf name.

[thomassimon]

Thanks.