Visualize lidar scan after NDT publishes transform
Description
RViz
attempts to display a new lidar scan while/before NDT processes the very same scan and publishes the necessary transform odom -> map to tf. RViz
queries the transform at the timestamp of the lidar scan, which is often not available yet.
Possible solutions
The point of this ticket is to discuss which of these makes the most sense for the demo.
Re-publish the lidar points after waiting for the transform
Have a node that re-publishes the lidar points after it waits for the corresponding transform, e.g. to a /lidars/viz
topic. Then when RViz receives that message, it will be able to look up the transform and display it.
Make RViz smarter
map
fixed frame, or do not require lidar visualization
Do not use the Maybe we always set the fixed frame to base_link
, in which case see #646 (closed).
Edited by Nikolai Morin