0
$\begingroup$

I have pointcloud2 data related to my lidar_frame. I would like to transform the data to my base_frame to use them with my ICP Algorithm. I found a sample here: https://answers.ros.org/question/291735/pointcloud2-transform-cpython/ but this example seems to be related to ros1.

Somehow I can not find tf2_sensor_msgs.tf2_sensor_msgs which contains do_transform_cloud

Is there any other sample out there?

Improve this question
$\endgroup$
1

1 Answer 1

Reset to default
2
$\begingroup$

I don't know if it is too late but to anyone wondering how to do this, in this PR just they solved that for ros2 (https://github.com/ros2/geometry2/pull/507) So you need to upgrade your ros version to Iron. There you should be able to use and import it as

from tf2_sensor_msgs import do_transform_cloud
Improve this answer
$\endgroup$
1
  • $\begingroup$ Thanks for sharing! $\endgroup$ Commented Nov 9, 2023 at 14:42

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Start asking to get answers

Find the answer to your question by asking.

Ask question

Explore related questions

See similar questions with these tags.