Incorrect tf frame id

[bponsler]

Copied from here:

I have tried the code from https://github.com/bponsler/urg_node/tree/ros2-devel. it could work but has issue.
since I did not find the place to submit a issue on https://github.com/bponsler/urg_node1. so I write here.

Error: :“urg_node” passed to lookupTransform argument target_frame does not exist.

Reproduce:
root@robot1:~# urg_node
Connected to serial device with ID: H1626063
Streaming data.

root@robot1:~# ros2 run tf2_ros tf2_echo urg_node urg_node
Failure at 1501769676.54089
Exception thrown:“urg_node” passed to lookupTransform argument target_frame does not exist.
The current list of frames is:

Failure at 1501769677.44048
Exception thrown:“urg_node” passed to lookupTransform argument target_frame does not exist.
The current list of frames is:

[bponsler]

The default frame id for the urg_node is "laser" (not "urg_node") so you would need to do:

ros2 run tf2_ros tf2_echo laser laser

To view the laser frame. Note that it takes a few cycles for it to receive the tf frames so it will display the exception a few times before finally finding the frame.

Additionally, I exposed the frame id as a parameter to urg_node which can be done in the following ways:

urg_node --laser-frame-id my_laser_frame
ros2 run urg_node urg_node -- --laser-frame-id my_laser_frame