beltransen/lidar_bev

A ROS package for LiDAR's Bird's Eye View projection.

lidar_bev's Issues

3D LiDAR -> .bag files -> lidar_bev ?

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

Problem with passed target frame to lookupTransform

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!

"velodyne" passed to lookupTransform argument target_frame does not exist

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!