Hi!<br><br>An easy way would be to use tf&#39;s static_transform_publisher. Based on the other email of yours I assume you are using your point cloud generating device (Kinect?) mounted on your robot?<br>So, you could set up a relation between that device and your robot by:<br>
&quot;rosrun tf static_transform_publisher 0 0 0 0 0 0 /camera_mount /camera 10&quot; (in the terminal)<br>This publishes a transform from the frame /camera_mount, which can be any of your robot&#39;s published frames, to the camera (at 100hz (10ms)).<br>
<b>But</b> you will only see the point cloud being updated, when choosing /camera as fixed frame in rviz. So, you will see both the point cloud and the robot model, but from the viewpoint of /camera.<br>I think, I better implementation would be adding a camera_joint to your robot&#39;s urdf description as described here: <a href="http://answers.ros.org/question/106/how-to-add-kinect-sensor-input-to-a-urdf-model">http://answers.ros.org/question/106/how-to-add-kinect-sensor-input-to-a-urdf-model</a><br>
But I never have done that. Maybe someone else can provide more help!<br><br>Good luck!<br><br>Regards,<br>Marcus Liebhardt<br><br><br><div class="gmail_quote">2011/6/19 Medi-Care Robotics <span dir="ltr">&lt;<a href="mailto:itsmyrobot@gmail.com">itsmyrobot@gmail.com</a>&gt;</span><br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div bgcolor="#FFFFFF"><div>Can you please explain me how to do  this. I am quite new to ROS.</div>
<div><br></div><div>Do i do this in one of the files or in the terminal?<br><br><br></div><div><br>Op 19 jun. 2011 om 20:41 heeft Marcus Liebhardt &lt;<a href="mailto:marcus.liebhardt@pal-robotics.com" target="_blank">marcus.liebhardt@pal-robotics.com</a>&gt; het volgende geschreven:<br>
<br></div><div><div></div><div class="h5"><div></div><blockquote type="cite"><div>Hi!<br><br>I think I managed that once by adding a new tf frame, which is the parent of  both (in your case) /common_odometry (or maybe the base_link of your robot) and /camera.<br>
Then rviz should know how to bring the pointcloud and the robot model in accordance with each other.<br>
<br>If the above works, would you please post the question and answer on <a href="http://answers.ros.org/" target="_blank"></a><a href="http://answers.ros.org" target="_blank">answers.ros.org</a> (if it is not already there)? Thanks!<br>
<br>Regards,<br>Marcus Liebhardt<br><br><br><br><div class="gmail_quote">
2011/6/19 Medi-Care Robotics <span dir="ltr">&lt;<a href="mailto:itsmyrobot@gmail.com" target="_blank"></a><a href="mailto:itsmyrobot@gmail.com" target="_blank">itsmyrobot@gmail.com</a>&gt;</span><br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

I am using rviz to view my pointcloud. Now if i use Robot_model. I have to set the global conf. To /common_odometry or something similair. With the pointcloud it needs to be /camera to see anything.<br>
<br>
But how would i show both at the same time? Is there a sort of default to view everything?<br>
<br>
<br>
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