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I need to build 3d map in rviz. I have a recorded .bag file with the data from lidar which is going by straight line. So basically i need some way to provide rviz a fake info about movement of the robot. What is the easiest way to do that?
You have to publish tf data for your fake robot that moves the frame of the sensor data (for example "lidar_frame") in relation to another frame (for example "world"). If you then set your "Fixed Frame" in rviz to "world", you should see your lidar_frame moving and lidar data rendered as you intended. The easiest way to do that is to have a robot with a localization system which automatically generates the required tf data :) To fake things, you could make a small cpp or Python node that uses a TransformBroadcaster as described in the tf broadcaster tutorial.
Thanks a lot, I now have tf broadcaster from tutorial which was slightly modified, so 3d map building working well, however, it have too much extra functions that i dont need like a window with turtle, etc I need some clean tf broadcaster without any other features, but i didnt find any tutorials :(
Hello Dan, I also would like to export my registered point cloud from RVIZ. Did you ever find a way to do that? Also for what it is worth, I created my registered point cloud using BLAM! from Erik Nelson, it has worked nicely. https://github.com/erik-nelson/blam
Asked: 2015-02-12 10:50:10 -0600
Seen: 2,177 times
Last updated: Feb 13 '15
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