"velodyne" passed to lookupTransform argument target_frame does not exist

[akamob]

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!

[Petros626]

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!

Hey,

sorry for the late answer, but i think you should use this node: https://github.com/mjshiggins/ros-examples (you need only lidar from src folder). The authors of this repo haven't the time I guess to answer questions about this. I spend a lot of time with their node on my bachelor thesis and finally the other node gets you the same result, doesn't matter, which LiDAR sensor youre using, because this node is only for plane scanning LiDARs like Velodyne.

So your Problem is, that you have to define the static transform publisher (for camera frame) in a launch file, if you want to make this node running. The velodyne frame should be readable with ROS I guess, you could try to configure their launch file, with the specific frame of your LIDAR to make it run