I use this [3D Perception tutorial](http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/perception_configuration.html) to input octomap to moveit.
But the octomap in moveit is like a mass. Octomap just generated in a constant area.
[Here](http://imgur.com/1aSMsyI) is the picture of fail octomap.
I read some article also tutorial of [TF](http://wiki.ros.org/tf/Tutorials).
I think maybe i should add TF between /map to /odom.
But i just have concept of TF. I don't know how to do it.
Or maybe i am wrong,i don't need TF?
By the way,I just know the concept of /map -> /odom -> /base_link,but i don't know how to achieve.
Could anyone help me. I am very new in ROS.
Any help would be great.
↧