Re: mapping with kinect v2 + laser scan

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/mapping-with-kinect-v2-laser-scan-tp6367p6378.html

Hi,

You must create a TF tree for your setup. You can read this: http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF. You cannot do hand-held mapping with a kinect + 2d lidar in that configuration. In this example, we assumed that we are on a 2D robot.

Explicitly your error is that you don't have TF between the base_foorprint frame of the robot and the laser frame. Without going through an URDF and robot_state_publisher, you can simply add manually the missing static transforms with:

<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser" 
    args="0.0 0.0 0.3 0.0 0.0 0.0 /base_footprint /laser 100" />

Here assuming the lidar is 30 cm over the base_footprint. You may have to do the same for the camera.

cheers,
Mathieu