Hello,
I have a task that is supposed to provide the robots position in a global map
via a transform "map" -> "robot".
Within the orogen-file, the transform is specified as:
output_port "map2robot", "base/samples/RigidBodyState"
The transform is created with the given frame names in the task:
base::samples::RigidBodyState rbs;
rbs.setTransform(mMapper->getCurrentPose());
rbs.invalidateCovariances();
rbs.sourceFrame = "map";
rbs.targetFrame = "robot";
_map2robot.write(rbs);
In transforms.rb, this transform is definied to provide the "map" and robot
"frame"
dynamic_transform "mapper.map2robot", "map" => "robot"
But when I try to visualize sensor data in the "robot" frame, only the default
"world_osg" frame is available. A transform_broadcaster is not started, even
after adding a dummy static_transform in transforms.rb.
What else is missing to make the transform available in the visualization?
Best regards,
Sebastian_______________________________________________
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