[cob_sick_s300] two sensors have only the base_link as reference frame

[SinanK94]

The scans from my sensors (sensor_1 and sensor_2) are captured in an output "scan" which have a common frame_id (default: base_link). The problem on my mobile robot is that one sensor is placed in the front left and the other sensor is placed in the back right. Therefore, I cannot use the common frame base_link because a map is created from the base_link and not from the respective sensors.

I did try it to see if I could list the frame_ids, as with the input_scans parameter, but without success. Is there maybe another solution for this?

<node pkg="cob_scan_unifier" type="scan_unifier_node" name="scan_unifier_node" respawn="false" output="screen" > <rosparam> loop_rate: 100 input_scans: - scan_1 - scan_2 frame: base_link #default <!-- frame: - sensor_1 - sensor_2 --> </rosparam> <remap from = "scan_unified" to = "scan"/> </node>

Thanks in advance!

[HannesBachter]

You should introduce two frames (one for each scanner) that describe the position relative to the base link and set those links for the scanners. And in general, maps should be generated in map link, not in base_link

Maybe you should have a look at those first:

• https://www.ros.org/reps/rep-0105.html
• http://wiki.ros.org/urdf/Tutorials