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RMonica / elastic_bridge

ROS wrapper for ElasticFusion
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Providing external frame #5

Closed juandavid212 closed 2 years ago

juandavid212 commented 2 years ago

Hello, I'm trying to use your package, but I doubt setting the external frames. I'm using a robotic arm with a camera attached. As far as I understand I have to set

to allow the use of external frames, and: <param name="TF_INPUT_WORLD_FRAME" type="string" value="BASE_TF />

In this sense, the point depth input (from the camera) is referenced to the end-effector frame (camera and end effector frames coincide) and the output of elastic fusion is referenced to the robot base (which is fixed).

Then, which frames should I put in WORLD_FRAME and CAMERA_FRAME params?

RMonica commented 2 years ago

Hi.

To provide external frames for camera tracking, you have to set the parameters: TF_POSE_ALWAYS to true TF_INPUT_WORLD_FRAME to the TF world frame TF_INPUT_CAMERA_FRAME to the TF camera frame

juandavid212 commented 2 years ago

Thanks for your answer. It's working now.