[Rock-dev] Transformation not available in Visualization

[Sylvain Joyeux]

Can you post your runscript as well ?

Sylvain

On Fri, May 29, 2015 at 7:06 AM, Sebastian Kasperski
<sebastian.kasperski at dfki.de> wrote:
> Hello,
>
> I have a task that is supposed to provide the robots position in a global
> map via a transform "map" -> "robot".
>
> Within the orogen-file, the transform is specified as:
>     output_port "map2robot", "base/samples/RigidBodyState"
>
> The transform is created with the given frame names in the task:
>   base::samples::RigidBodyState rbs;
>   rbs.setTransform(mMapper->getCurrentPose());
>   rbs.invalidateCovariances();
>   rbs.sourceFrame = "map";
>   rbs.targetFrame = "robot";
>   _map2robot.write(rbs);
>
> In transforms.rb, this transform is definied to provide the "map" and robot
> "frame"
>   dynamic_transform "mapper.map2robot", "map" => "robot"
>
> But when I try to visualize sensor data in the "robot" frame, only the
> default "world_osg" frame is available. A transform_broadcaster is not
> started, even after adding a dummy static_transform in transforms.rb.
>
> What else is missing to make the transform available in the visualization?
>
> Best regards,
> Sebastian
>
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