visp_auto_tracker: Overwritting object position's frame id

[Pyrojambo]

What is the reason for overwriting the frame_id in the header of the PoseStamped message for in line 194 - 196 of node.cpp of the vision_auto_tracker?

ps.header = image_header_;
ps.header.frame_id = tracker_ref_frame;
object_pose_publisher.publish(ps);

The tracker_ref_frame is set to "\map" in names.cpp which overwrites whatever frame the image (and therefore the pose calculated) used as a reference. The same is also done to the covariance position.

[fspindle]

To have pose and covariance corresponding to the processed image timestamp

[Pyrojambo]

The timestamp is copied to the pose with ps.header = image_header_. My question is the next line (ps.header.frame_id = tracker_ref_frame;) where you overwrite the reference frame from the image's reference frame to "/map". A quick example of what I mean is:

• A barcode is detected
• The pose of the barcode is calculated to be x=1, y=0, z=0 (ignore orientation for the example)
• The pose has its header (timestamp and reference frame) set to those of the image
• The pose is with respect to the camera i.e. the barcode is 1m away from the camera, in line with its centre
• The pose's reference frame is overwritten to be "/map", so now the barcode is said to be 1m away from the origin of the map
• If we have a robot at x=10, y=0, z=0 wrt "/map"; and give it the above pose as a goal it will travel 9m in the -x direction rather than 1m in the direction that the camera faces

[fspindle]

Sorry, I miss read your first message.

I don't see any good reason to overwrite frame_id.

[nickvaras]

97

[YikaiZengTUD]

Hi, I am encountering the same issue regarding the fixed frame id. Are there any updates and could it be configurable in the launch file?

-- After reading the commits, it could be configured in the launch file for the node by

 <param name="tracker_ref_frame" value="the name you want"/>

Thanks for your efforts and I may suggest adding this line in the tutorials