search

intel / ros2_intel_realsense

This project is deprecated and no more maintained. Please visit https://github.com/IntelRealSense/realsense-ros for ROS2 wrapper.
Apache License 2.0
141 stars 96 forks source link

Change prefix of camera optical and depth frames in refactor branch #125

Open charlotteheggem opened 4 years ago

charlotteheggem commented 4 years ago

Hi, I can not find any parameter to change the prefix for the frames on the refactor branch. When launching with two D435 cameras, both camera links, defined with base_frame_id, have the child frames camera_color_optical_frame and camera_depth_optical_frame, and it is not possible to separate these. Is there any way to change the prefix of the frames? I am using ROS2 Eloquent.

akirayou commented 4 years ago

Here is my patch. Not tested well, but it seems to work. All optical frames name are generated by base_frame_name.

patch: https://github.com/akirayou/ros2_intel_realsense/commit/7238ceaff0fed56057702573fba2fa95d20682a4

My branch for test: https://github.com/akirayou/ros2_intel_realsense/tree/T265_workaround

AndrejOrsula commented 4 years ago

Hey, my approach, https://github.com/AndrejOrsula/ros2_intel_realsense/commit/6e1365f0db167a6fd190d8ee23542eacba115b16, was to prefix all frames with the namespace of the node (besides base_frame that remains defined by base_frame_id). It is tested with combination of D415 + D435.

That being said, I am really curious to know the standard way of remapping frame_id in ROS 2, as I cannot find any relevant information about it.