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[ROS2] The Camera Sensor faces a different direction than the standard O3DE camera. #742

Open knicked opened 3 months ago

knicked commented 3 months ago

The ROS2 Camera Sensor component appears to be facing the +Z direction, while the standard O3DE Camera component placed on the same entity faces the +Y direction. This makes it impossible to use the Viewport Camera Selector tool to adjust the ROS2 camera sensor placement.

image

Yellow: Standard O3DE Camera frustum. Cyan: ROS2 Camera Sensor frustum placed on the same entity.

Describe the solution you'd like Make the ROS2 Camera Sensor component face the same direction as the standard Camera component.

michalpelka commented 3 months ago

ROS 2 camera follows https://www.ros.org/reps/rep-0103.html : image which is standard in image processing. O3DE camera does not follow this convention. Changing ROS 2 camera direction will break compatibility with REP-103 and will force simulation user to adjust it outside simulation

michalpelka commented 2 months ago

This issue needs some investigation w.r.t SDF importer.