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Pointcloud2 in rviz

asked 2022-02-27 09:57:15 -0600

kankanzheli
3 ●9 ●11 ●17

Hello everyone, I designed a robot in gazebo. The robot is equipped with a depth camera Kinect. That is, the file "libgazebo_ros_openni_kinect.so" is called.

I learned that when displaying point clouds in rviz, there will be point cloud pose errors.(Also happeded in my robot) Does this happen only in rviz, or is there an error in the relevant data of the whole point cloud?

If it is an error in the relevant data of the whole point cloud, how can I solve that problem?

Please help me

Here is the image of rviz: image description

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answered 2022-03-01 05:11:16 -0600

Fetullah Atas

819 ●7 ●77 ●21 https://github.com/jediofgever

updated 2022-03-01 05:11:50 -0600

Your point cloud is most likely in a coordinate frame that ends with optical_frame?

If you want your point cloud to be correctly visualized, you would have to transform your point cloud to base_link if you only want to verify that everything ok with your cloud, you can change Fixed Frame in Global options to the frame that point cloud uses, point cloud should be displayed correctly, but then your robot will be visualized incorrectly.

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Asked: 2022-02-27 09:57:15 -0600

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Last updated: Mar 01 '22

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