I used laser_geometry tutorial and I have this code:
LaserScanToPointCloud(ros::NodeHandle n):
n_(n),
// laser_sub_(n_, "base_scan", 10),
laser_sub_(n_, "/laserscan", 1),
laser_notifier_(laser_sub_,listener_, "laser0_frame", 1)
{
std::cout << "Object created" << std::endl ;
laser_notifier_.registerCallback(
boost::bind(&LaserScanToPointCloud::scanCallback, this, _1));
laser_notifier_.setTolerance(ros::Duration(0.01));// 0.01
std::cout << "before pub " << std::endl ;
scan_pub_ = n_.advertise("cloud",1);
std::cout << "after pub " << std::endl ;
}
==========================================
sensor_msgs::PointCloud cloud;
try
{
std::cout << "try " << std::endl ;
projector_.transformLaserScanToPointCloud(
"laser0_frame",*scan_in, cloud,listener_);
}
catch (tf::TransformException& e)
{
std::cout << "catch 1 " << std::endl ;
std::cout << e.what();
std::cout << "catch " << std::endl ;
return;
}
I changed base_scan to laser_scan --> this is because the topic name that publishes laser data is called laser_scan
is that right ?? should I do that or shouldn't I ?
Also, I did rostopic echo /scan and I found that the frame id is laser0_frame.. So I used it instead of the base_link. The base_link was used in the geometry tutorial.
now in the previous code should I use base_link or laser0_frame
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