I use the camera for certain detections, all of these are relative to the _cameraframe, which need to be transformed to another frame by using tf2. Launching the driver with the following command:
Provokes the driver publishing the static tf with Nan values, thus giving in another terminal warnings and errors since this other module using the camera information uses tf2 as well.
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "camera_accel_frame" from authority "default_authority" because of a nan value in the transform (-nan -0.000000 -inf) (-nan -nan -nan -nan)
at line 235 in ./src/buffer_core.cpp
Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "camera_accel_frame" from authority "default_authority" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
at line 254 in ./src/buffer_core.cpp
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "camera_gyro_frame" from authority "default_authority" because of a nan value in the transform (-nan -0.000000 -inf) (-nan -nan -nan -nan)
Expected output
When launching the driver, it is able to properly calculate the transformations without any problem related to tf2.
Actual output
When testing the latest 1.58 version from 1.57 the following issue arises:
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [169690]
[component_container-1] [INFO] [1719318129.549749307] [camera.camera_container]: Load Library: /ros/orbecc_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1719318129.626721050] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1719318129.627190855] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [06/25 14:22:09.634843][info][169690][Context.cpp:68] Context created with config: /ros/orbecc_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
[component_container-1] [06/25 14:22:09.635234][info][169690][Context.cpp:73] Work directory=/ros/orbecc_ws, SDK version=v1.10.8-20240604-d1671a3
[component_container-1] [06/25 14:22:09.635417][info][169690][LinuxPal.cpp:32] createObPal: create LinuxPal!
[component_container-1] [06/25 14:22:09.733248][info][169690][LinuxPal.cpp:143] Create PollingDeviceWatcher!
[component_container-1] [06/25 14:22:09.733263][info][169690][DeviceManager.cpp:15] Current found device(s): (1)
[component_container-1] [06/25 14:22:09.733266][info][169690][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID , Connection: USB3.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1719318130.233909518] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1719318131.715367454] [camera.camera]: use_hardware_time: true
[component_container-1] [INFO] [1719318131.725714419] [camera.camera]: default_soft_filter_max_diff: 300
[component_container-1] [INFO] [1719318131.725797215] [camera.camera]: default_soft_filter_speckle_size: 25
[component_container-1] [INFO] [1719318131.726051642] [camera.camera]: stream depth is enabled - width: 640, height: 576, fps: 30, Format: OB_FORMAT_Y16
[component_container-1] [INFO] [1719318131.726226795] [camera.camera]: stream ir is enabled - width: 640, height: 576, fps: 30, Format: OB_FORMAT_Y16
[component_container-1] [INFO] [1719318131.726889758] [camera.camera]: stream color is enabled - width: 1280, height: 960, fps: 30, Format: OB_FORMAT_RGB
[component_container-1] [INFO] [1719318131.726939351] [camera.camera]: stream gyro full scale range 1000dps sample rate 200hz
[component_container-1] [INFO] [1719318131.726969128] [camera.camera]: stream accel full scale range 4g sample rate 200hz
[component_container-1] [INFO] [1719318131.746917326] [camera.camera]: Publish diagnostics every 1 seconds
[component_container-1] [INFO] [1719318131.903412663] [camera.camera]: start accel stream with range: 4g,rate:200hz, and start gyro stream with range:1000dps,rate:200hz
[component_container-1] [INFO] [1719318131.903510686] [camera.camera]: set align mode to ALIGN_D2C_SW_MODE
[component_container-1] [INFO] [1719318131.903526783] [camera.camera]: enable depth scale ON
[component_container-1] [INFO] [1719318131.903539537] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1719318131.903552844] [camera.camera]: Stream depth width: 640 height: 576 fps: 30 format: Y16
[component_container-1] [INFO] [1719318131.903563177] [camera.camera]: Enable ir stream
[component_container-1] [INFO] [1719318131.903572913] [camera.camera]: Stream ir width: 640 height: 576 fps: 30 format: Y16
[component_container-1] [INFO] [1719318131.903581809] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1719318131.903591030] [camera.camera]: Stream color width: 1280 height: 960 fps: 30 format: RGB888
[component_container-1] [INFO] [1719318133.217444099] [camera.camera]: Enable frame sync
[component_container-1] [INFO] [1719318133.217571298] [camera.camera]: Device Femto Bolt connected
[component_container-1] [INFO] [1719318133.217585721] [camera.camera]: Serial number:
[component_container-1] [INFO] [1719318133.217597695] [camera.camera]: Firmware version: 1.0.9
[component_container-1] [INFO] [1719318133.217620809] [camera.camera]: Hardware version: 1.2
[component_container-1] [INFO] [1719318133.217629061] [camera.camera]: device unique id: 4-3-9
[component_container-1] [INFO] [1719318133.217641691] [camera.camera]: Current node pid: 169690
[component_container-1] [INFO] [1719318133.809700533] [camera.camera]: Publishing static transform from camera_link to ir
[component_container-1] [INFO] [1719318133.809749210] [camera.camera]: Translation 0, 0, 0
[component_container-1] [INFO] [1719318133.809757228] [camera.camera]: Rotation 0, 0, 0, 1
[component_container-1] [INFO] [1719318133.809770495] [camera.camera]: Publishing static transform from camera_link to color
[component_container-1] [INFO] [1719318133.809778266] [camera.camera]: Translation 32.6763, 1.09422, -2.14453
[component_container-1] [INFO] [1719318133.809785533] [camera.camera]: Rotation -0.00317307, 0.053004, -5.35962e-05, 0.997891
[component_container-1] [INFO] [1719318133.809791528] [camera.camera]: Publishing static transform from camera_link to depth
[component_container-1] [INFO] [1719318133.809797083] [camera.camera]: Translation 0, 0, 0
[component_container-1] [INFO] [1719318133.809802674] [camera.camera]: Rotation 0, 0, 0, 1
[component_container-1] [INFO] [1719318133.809810151] [camera.camera]: Publishing static transform from camera_link to accel
[component_container-1] [INFO] [1719318133.809815589] [camera.camera]: Translation 0, inf, -nan
[component_container-1] [INFO] [1719318133.809820975] [camera.camera]: Rotation -nan, -nan, -nan, -nan
[component_container-1] [INFO] [1719318133.809827225] [camera.camera]: Publishing static transform from camera_link to gyro
[component_container-1] [INFO] [1719318133.809832147] [camera.camera]: Translation 0, inf, -nan
[component_container-1] [INFO] [1719318133.809837055] [camera.camera]: Rotation -nan, -nan, -nan, -nan
[component_container-1] [WARN] [1719318133.809989002] [camera.camera]: Publishing dynamic camera transforms (/tf) at 10 Hz
All the topics work as expected and the pcd is being published
General information
Explanation
I use the camera for certain detections, all of these are relative to the _cameraframe, which need to be transformed to another frame by using tf2. Launching the driver with the following command:
Provokes the driver publishing the static tf with Nan values, thus giving in another terminal warnings and errors since this other module using the camera information uses tf2 as well.
Expected output
When launching the driver, it is able to properly calculate the transformations without any problem related to tf2.
Actual output
When testing the latest 1.58 version from 1.57 the following issue arises:
All the topics work as expected and the pcd is being published
Thanks in advance