beltransen / lidar_bev Goto Github PK
View Code? Open in Web Editor NEWA ROS package for LiDAR's Bird's Eye View projection.
A ROS package for LiDAR's Bird's Eye View projection.
hey guys,
i am currently having problems understanding how the package works. as you listed, the package expects an input and gives an output.
Input: sensor_msgs/Pointcloud2 (binary_blob?)
Output: sensor_msgs/Image
is it possible to implement my streaming pipeline with this or are the conditions wrong.
Thanks for any kind of help
Hey guys,
After a bit of research, I was able to reduce the error and specify the issue more precisely.
There is a problem with the target frame. In my case, I found out that it is called yrl_cloud_id.
After I checked the frame via rosrun tf view_frames I get the following PDF output with parent frame and child frame:
I pass the frame_id to the param in the file lidar_bev.cpp:
But it still gives me the WARNING, that the target frame, that i passed to lookupTransform (cloud_filter.cpp) doesn't exist.
Note: the ROS_INFO was added by myself.
Why? I receive data from my LiDAR and can visualize them. Should I don't use a launch file or what?
Many thanks for your help!
Hi, Thank you for the great work.
I record the point cloud as a rosbag file. When I replay the rosbag file and run your code, i met:
[ WARN] [1658387066.047185042]: "velodyne" passed to lookupTransform argument target_frame does not exist.
I only use a VLP-16 lidar, so i don't know what should i write in camera_tf_frame.
May i have your suggestions to fix it?
Any help is much appreciated!
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