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2013-03-20 13:28:29 -0500 commented answer DRCSim and TF : please tell me what I'm missing

Hi Brian, thank you so much for the response. I have been getting through the TF tutorials and see that I will need the MessageFilter as you said. Unfortunately the code/programs for the tutorial are no longer in fuerte (unless I missed a package) but I have almost re-created all the files and will submit bug/patch on GitHub for that. Thanks again!

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2013-03-15 21:09:52 -0500 asked a question DRCSim and TF : please tell me what I'm missing

Hello All,

DRCSim-2.2, Ubuntu 12.04.2LTS

I am trying to convert LaserScan images to Point Clouds with modified version of code here...
[http://answers.ros.org/question/11232/how-to-turn-laser-scan-to-point-cloud-map/]

Modifications are only changing link/topic names, and changing setExtrapolationLimit to 3.0.

I get the following error...

terminate called after throwing an instance of 'tf::LookupException'
what(): Frame id /head_hokuyo_frame does not exist! Frames (31): Frame /hokuyo_link exists with parent /head.
Frame /head exists with parent /utorso.
Frame /ltorso exists with parent /pelvis.

I shortened this, but /head_hokoyu_frame is not in the list.


"view_frames" shows connection between /pelvis and /head_hokoyu_frame

Update : I have been trying the TF tutorials for inspiration. The view_frames output says the transform from /pelvis to /ltorso is 1363397010.463 sec old ?? Also, tf_monitor shows Average Delay: -0.495226 for some frames.

Thank you for any assistance or useful links.