Comments on sscrovers_tf_conf

Based on the tf robot setup tutorials I am commenting the codes of the broadcaster and listener of this package in order to find out a solution to the recently presented problem.

tf_broadcaster.cpp

The only comment I have is related to the timestamp of ros::Time::now(). Perhaps this is the reason why tf is ignoring the desired transform

tf_listener.cpp

• When creating the point for the base_scan frame (the one in the laser) it is used the following message type:

             geometry_msgs::PointStamped                             



       The stamped at the end of the message name means that it includes headers:                                        1. The frame_id header is assigned to the frame (base_scan) itself:                                        laser_point.header.frame_id = "base_scan";                                        2. The timestamp header is assigned to ros::Time which asks for the latest available transform.                     I think this might be a key concept for debugging the program:                                        laser_point.header.stamp = ros::Time(); 

• The next step is to declare an object (base_point) that is going to store the same information that the 

• laser_point (on the base_scan frame) owns but now in the base_link frame.

             try{geometry_msgs::PointStamped base_point;                

                      listener.transformPoint("base_link", laser_point, base_point);