search

orbbec / OrbbecSDK_ROS2

OrbbecSDK ROS2 wrapper
https://orbbec.github.io/OrbbecSDK_ROS2/
Apache License 2.0
57 stars 19 forks source link

inconsistent frame_id in ROS messages from the Gemini2 #19

Closed JanNogga closed 6 months ago

JanNogga commented 6 months ago

Using the default Gemini2 launch file, messages from camera topics such as _/camera/color/imageraw or _/camera/color/camerainfo are stamped with header.frame_id = color_optical_frame. On the other hand, the corresponding tf2 entry is camera_color_optical_frame. At first glance it seems like the camera message headers are perhaps ignoring the camera name, which I guess is "camera" per default. Anyhow, the issue is somewhat consequential because tf2 lookups necessary to transform sensor data to other frames are failing because of this.

jian-dong commented 6 months ago

@JanNogga Thanks for your feedback, I'll fix this next Monday.

jian-dong commented 6 months ago

Hi @JanNogga I check the latest version and the camera_info stamp frame is camera_color_optical_frame maybe it's already fixed?

ptzld commented 6 months ago

Hi @jian-dong, I am a colleague of @JanNogga and after updating our system from 05b717c, I can confirm that the camera_info messages of the color, depth, and ir images now all point to the frame camera_color_optical_frame. Also, the specified launch argument camera_name propagates as expected through tf, topic names, and frame_ids. Thanks for your help!