Laser scan visualization with wrong tf

[funnyrabbitvu]

Hi guys,

I try to visualize laser scan data on my web interface using Turtlebot3 simulations packages. But it seemed like I got wrong displaying laser tf (figure attached below). I created a tfClient with fixed frame is /odom that subscribes from /base_scan frame of the Turtlebot3. I can make sure that I ran the tf2_web_republisher node. I still stuck here so I need helps from you guys. Please tell me where I did wrong? Thank you guys alot.

Here is my following code: ` // VISUALIZE LASER SCAN var laser_listener = new window.ROSLIB.Topic({ ros: this.state.ros, name: '/scan', messageType: 'sensor_msgs/LaserScan', //throttle_rate: 100 });

	var tfClient = new window.ROSLIB.TFClient({
		ros: this.state.ros,
		fixedFrame : 'odom',
		angularThres : 0.01,
		transThres : 0.01
	});

	var lasertf = { x: 0, y: 0, rotation: 0 };
	tfClient.subscribe('base_scan', function(tf) {
		lasertf.x = tf.translation.x;
		lasertf.y = tf.translation.y;
		lasertf.rotation = viewer.scene.rosQuaternionToGlobalTheta(tf.rotation);
	});

	var maptf = { x: 0, y: 0, rotation: 0 };
	tfClient.subscribe('map', function(tf) {
		maptf.x = tf.translation.x;
		maptf.y = tf.translation.y;
		maptf.rotation = viewer.scene.rosQuaternionToGlobalTheta(tf.rotation);
	});

	var laserDisplay = new ROS2D.LaserDraw({
		pointColor: 'green'
	});

	var delayTime = 0;	
	laser_listener.subscribe(function(msg) {
		delayTime++;
		if (delayTime < 1) { return }; 
		delayTime = 0;
	
		laserDisplay.setScanMsg(msg);	
		laserDisplay.rotation = lasertf.rotation;
		laserDisplay.x = lasertf.x;
		laserDisplay.y = -lasertf.y;
	});
	viewer.scene.addChild(laserDisplay);`

[MatthijsBurgh]

I think this applies to ROS2D, not ROS3D.

I am not that familiar with these classes yet. So I can't help you right away. Please check the documentation first.

Also to be sure. Does it show correctly in rviz?

[MatthijsBurgh]

Stale