Hi, i want to make 3d map using UTM-30LX. I created 2d map. Then I write tf_broadcaster to provide transform between /world and /laser frame when hokuyo is moving in upward direction. Not able to see 3d map in rviz. The tf_broadcaster.cpp is given below.
#include
#include
int main(int argc, char** argv){
ros::init(argc, argv, "my_tf_broadcaster");
ros::NodeHandle node;
ros::Rate rate(30.0);
static tf::TransformBroadcaster br;
tf::Transform transform;
while(ros::ok()) {
transform.setOrigin( tf::Vector3(0.0, 0.0, 0.0) );
tf::Quaternion q;
q.setRPY(0, 0, 0);
transform.setRotation(q);
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "laser"));
rate.sleep();
ros::spinOnce();
}
return 0;
};
In rviz "no /world frame exist" error is coming. Can anybody tell me where i am wrong?
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