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hello-robot / stretch_web_teleop

Remote web teleoperation for the Stretch mobile manipulators from Hello Robot Inc.
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D405 Camera frame coincides with the D435i while using Multi Camera Launch #74

Closed hello-fazil closed 1 month ago

hello-fazil commented 1 month ago

This issue surfaced from this forum thread https://forum.hello-robot.com/t/stretch-3-gripper-camera-transform-issue/1022/6 where the user was having trouble with the D405 camera frame that gets attached to the D435i frame in the head while using the multi_camera.launch.py from stretch_web_teleop package. But this issue does not seem to happen while using the multi_camera.launch.py from the Stretch ROS2 's stretch_core package.

hello-amal commented 1 month ago

This was resolved in one of the recent pushes (see this file). The issue is that the earlier launchfile, in both stretch_ros2 and stretch_web_teleop, included the realsense multicamera launch file, which published a static transform of 0 between the frames. Both repositories have now removed that dependence.

If they pull the latest code and re-build, it will be resolved.