LaserScan points rotate with the robot #640
Description
Description
When my robot undergoes translation or rotation, the radar point cloud also experiences translation or rotation, which is particularly noticeable during rotations,When the robot comes to a standstill, the radar point cloud returns to its normal state.
My understanding is that the tfclient performs coordinate transformations, affecting the translation and rotation of a 3D object, which in turn impacts the points within the object. When a new radar point cloud frame hasn't been rendered yet, the old point cloud frame is shifted due to the object's rotation and translation. Is there a way to synchronously subscribe to both the radar topic message and the tf topic message, ensuring that radar messages correspond correctly to tf messages? Alternatively, can the radar point cloud remain stationary during TF transformations of the object?
- Library Version:ros3djs
- ROS Version:melodic
- Platform / OS:ubuntu
Steps To Reproduce
this.tfClient = new ROSLIB.TFClient({
ros : this.globalData.ros,
fixedFrame :'/map',
angularThres : 0.01,
transThres : 0.01,
rate : 10.0
})
this.viewer = new ROS3D.Viewer({
divID: 'map',
width: 750,
height: 750,
antialias: true,
});
this.laserclient = new ROS3D.LaserScan({
ros: this.globalData.ros,
topic: '/scan',
tfClient: this.tfClient,
rootObject: this.viewer.scene,
material: { size: 0.1, color: 0xFF0000 }
})
this.gridClient = new ROS3D.OccupancyGridClient({
ros: this.globalData.ros,
rootObject: this.viewer.scene,
continuous: true,
});
var arrowNode = new ROS3D.SceneNode({
tfClient : this.tfClient,
frameID : '/base_link',
object : new ROS3D.Arrow({
length: 0.5,
headLength:0.4,
shaftDiameter:0.1,
headDiameter:0.3,
color: 0xFD8600
}),
});
// console.log(arrowNode)
this.viewer.scene.add(arrowNode);
Expected Behavior
Actual Behavior