The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Are you sure you are using the correct frame? I recommend changing to:
listener.lookupTransform(filteredCloud->header.frame_id, "/odom_combined", filteredCloud->header.stamp, transform);
Of course this only works if the cloud has the correct frame when arriving, and you haven't yet modified it. Speaking of which, make sure you set the correct frame after you transform:
pcl_ros::transformPointCloud(*filteredCloud, *filteredCloud, transform);
filteredCloud->header.frame_id = "/odom_combined"
| | 2 | No.2 Revision |
Are you sure you are using the correct frame? I recommend changing to:
listener.lookupTransform(filteredCloud->header.frame_id, "/odom_combined", filteredCloud->header.stamp, transform);
Of course this only works if the cloud has the correct frame when arriving, and you haven't yet modified it. Speaking of which, make sure you set the correct frame after you transform:
pcl_ros::transformPointCloud(*filteredCloud, *filteredCloud, transform);
filteredCloud->header.frame_id = "/odom_combined"
EDIT
Based on the attached pdf of the frames, it appears that the correct frame for your cloud might be /head_mount_kinect_rgb_optical_frame and not /head_mount_kinect_rgb_link.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.