Problem with the sensors transformations

[saxosun]

Hello,
I have installed the lidar sensor which works but there is something wrong with its transformation , as you can see in the first image in which the robot footprint has an offset. In the gazebo simulator, the lidar appears to be in the right position and the static trasformations work, third image. Please, can anyone give me some suggestion?

thanks
Salvatore

[peterborkuti]

Hi,

I am just guessing:

• Maybe some error in the robot description file? I may try to simplify the robot’s desription to find out what is wrong.
• Maybe something with rviz?: Is the global options’s Fixed frame OK?
  That concentric circle segments are weird for me if it represents a laser scan. I think, only the outermost segment should be displayed.

Péter