ros中rviz查看激光雷达数据 hokuyo_urgnode urglidar

一开始没加tf会报错如下

[ WARN] [1531227099.238940419]: MessageFilter [target=map ]: Dropped 100.00% of messages so far.

解决如下

启动传感器驱动，加上tf变换，从/odom到激光

roslaunch urg_node urg_lidar.launch

<launch>
 
<!-- A simple launch file for the urg_node package. -->
 
<!--  When using an IP-connected LIDAR, populate the "ip_address" parameter with the address of the LIDAR.
      Otherwise, leave it blank. If supported by your LIDAR, you may enable the publish_intensity
      and/or publish_multiecho options. -->
 
  <node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
    <param name="ip_address" value="192.168.1.10"/>
    <param name="frame_id" value="laser"/>
    <param name="calibrate_time" value="true"/>
    <par