Not able to publish tf between velodyne and odom frame

[ArghyaChatterjee]

Hello, Thanks for the work. I am pretty impressed with your work. I want to know something from you. When I am running a rosbag (not kitti one), I can see it segments and remains in the (0, 0, 0) coordinate frame and publishing everything (ground/non-ground segmentation, bounding box etc.) . However, I need it to move along with the velodyne/base_link. I am publishing the dynamic frames in /tf and static frames in /tf_static and I can confirm that the topics are publishing data. My tf tree is (odom (static) --> base_link (moving) --> velodyne (moving)). I am publishing the static transform between base_link --> velodyne frame in /tf_static topic and publishing dynamic transform between odom -->base_link--> velodyne frame in /tf topic. Is there a way that it will subscribe to the /tf topic and publish the segmented regions w.r.t moving velodyne frame ??

Any help is appreciated. Thanks in advance.

[Durant35]

How about refering to the README.md with current DEMO, then you can know clearly about the tf tree and can implement the function you want.