[custom] Provide a general summary of the issue

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.

MIT License

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[custom] Provide a general summary of the issue #354

Closed osama-z-salah closed 10 months ago

osama-z-salah commented 11 months ago

I am using the OAK-D Pro for my AMR (Autonomous Mobile Robot). However, I have two state publishers, namely /oak_state_publisher and /robot_state_publisher. I have made their parent frames the same to connect both trees. However, I am facing an issue with time stamp synchronization, as the tf (transform) of each one is running under different time stamps.

Serafadam commented 11 months ago

Hi, attaching camera to the robot should be working without problems, could you share more information?

What's the time difference?
Is camera driver running on the same host?
How did you "attach" those together?

osama-z-salah commented 11 months ago

yes the camera driver is running on the same host and I attach them by using the same parent_frame for both "base_link" parent_frame = LaunchConfiguration('parent_frame', default = 'base_link') cam_pos_x = LaunchConfiguration('cam_pos_x', default = '-0.4815') cam_pos_y = LaunchConfiguration('cam_pos_y', default = '0.0') cam_pos_z = LaunchConfiguration('cam_pos_z', default = '0.26') cam_roll = LaunchConfiguration('cam_roll', default = '0.o') cam_pitch = LaunchConfiguration('cam_pitch', default = '0.0') cam_yaw = LaunchConfiguration('cam_yaw', default = '3.14159')

Serafadam commented 11 months ago

@osama-z-salah This second transform is from detected marker, not the camera, could you show the timestamp between robot base frame and oak base frame?

Serafadam commented 10 months ago

Closing due to inactivity, please reopen if there are still questions.