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livox雷达的tf变换问题 #160

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opened 2021-12-30 07:57:32 +01:00 by lv-lan · 1 comment
lv-lan commented 2021-12-30 07:57:32 +01:00 (Migrated from github.com)
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我使用两个静态变换生成 link1->link2->link3->livox_frame的tf树来模拟在机械臂末端添加雷达，但是这样在rviz中设置其他坐标系为原点时，雷达的点云数据会报错。只有使用livox_frame为原点坐标系时才能正常。

我使用两个静态变换生成 link1->link2->link3->livox_frame的tf树来模拟在机械臂末端添加雷达，但是这样在rviz中设置其他坐标系为原点时，雷达的点云数据会报错。只有使用livox_frame为原点坐标系时才能正常。
Livox-SDK commented 2022-06-12 13:16:45 +02:00 (Migrated from github.com)
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Hi lv-lan

您提出的应该是Ros-driver 相关的问题。
因为不是很清楚您报出的错误是什么，不清楚是否可能与您的二次开发相关。基于您目前的描述我建议您尝试修改launch文件中frame_id这个参数，改为统一的frame_id。
image

Hi lv-lan 您提出的应该是Ros-driver 相关的问题。 因为不是很清楚您报出的错误是什么，不清楚是否可能与您的二次开发相关。基于您目前的描述我建议您尝试修改launch文件中frame_id这个参数，改为统一的frame_id。 ![image](https://user-images.githubusercontent.com/45850995/173230337-28bf3187-1530-477a-8093-0c7058901cde.png)
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Reference: mmr/Livox-SDK#160
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