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Can someone please explain how can I transform a point (from a point cloud) to coordinate space of the map (which is built using gmapping)?
I've read the TF tutorials (http://ros.org/wiki/tf, http://ros.org/wiki/tf/Tutorials) but I still don't understand them well.
That depends what you're trying to accomplish. If you want the point to be in the /map frame, then you should transform into map.
Assuming you are interested in sensor_msgs/PointCloud2 using C++, I recommend using one of the pcl_ros::transformPointCloud() methods.
As Dan said, you probably want to transform from whatever frame the message was published in to the "/map" frame.
@joq@Dan Lazewatsky im trying to acomplish something similar which is posted here, http://answers.ros.org/question/83756/how-to-label-and-object-in-map/ I would really appreciate some help.
Asked: 2012-05-22 02:00:17 -0600
Seen: 2,870 times
Last updated: May 22 '12
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