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moveit / moveit_calibration

Hand-eye calibration tools for robot arms.
BSD 3-Clause "New" or "Revised" License
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add sensor root frame to produce correct tf tree in hand-to-eye case #116

Closed alexswerner closed 2 years ago

alexswerner commented 2 years ago

As tf only allows a frame to have one parent, publishing a transform from the robots base to the sensor frame (optical frame) is illegal in the case when this frame already has a parent (e.g. camera_link).

alexswerner commented 2 years ago

This is a try to fix issue #115 which seems to work for my use case. Let me know if merging that makes sense.

JStech commented 2 years ago

This change is unnecessary. The sensor frame should be selected as the root of the sensor TF subtree.