3D lidar orientation issue #31
Description
I have been trying to import a 2D and 3D lidar to turtlebot3_waffle using the provided sample turtlebot scene tutorial.
**What I am trying to do ** is that, if I translate and rotate the turtlebot, then the 3D pointcloud as well as 2D scan data should also translate and rotate similar amount to that of robot base_foorprint.
I am successful in doing so for 2D lidar however, when I import the 3D lidar in scene; then depending upon selected parent transform id the 3D pointcloud ONLY either rotates or translates.
I have attached some screenshots of Unity editor to show you 3D Lidar's different configuration, screenshot of tf tree and screenshots of foxglove where I am visualizing the data.
P.S. Observe how 2D scan (white) and 3D pointcloud (green) is aligned or misaligned.
If what I am trying to achieve is successful then the 2D scan and 3D pointcloud would never be misaligned no matter however I move the robot.
TF Tree
test 1 - parent transform id = base_footprint
observe how after applying pure rotation along vertical axis, the 2D and 3D points are misaligned.
| Unity Settings | Initial Pose | after applying only rotation to base |
|---|---|---|
 |
 |
 |
in this test if I apply only translation then the 2D and 3D pointclouds remains aligned.
test 2 - parent transform id = odom
observe how after applying pure translation along x axis, the 2D and 3D points are misaligned.
| Unity Settings | Initial Pose | after applying only translation to base |
|---|---|---|
 |
|
 |
in this test if I apply only rotattion then the 2D and 3D pointclouds remains aligned.
Can someone help me find any bug in my understanding or help me find a solution?