Open bmegli opened 7 months ago
We seem to be experiencing some offset of Astra S xtion_rgb_frame compared to real hardware
xtion_rgb_frame
In particular, should xtion_orbbec_aux_joint_frame and link be set to (0,0,0)?
xtion_orbbec_aux_joint_frame
https://github.com/pal-robotics/tiago_robot/blob/24c6abac8d96397c60bf560d2b95cb7763c95a68/tiago_description/urdf/sensors/orbbec_astra.urdf.xacro#L80-L89
Should data extracted from tf2 tree for TIAGo Astra S camera, in particular xtion_rgb_optical_frame, under which both depth and rgb data is published, reflect reality?
xtion_rgb_optical_frame
We seem to be experiencing some offset of Astra S
xtion_rgb_framecompared to real hardwareIn particular, should
xtion_orbbec_aux_joint_frameand link be set to (0,0,0)?https://github.com/pal-robotics/tiago_robot/blob/24c6abac8d96397c60bf560d2b95cb7763c95a68/tiago_description/urdf/sensors/orbbec_astra.urdf.xacro#L80-L89
Should data extracted from tf2 tree for TIAGo Astra S camera, in particular
xtion_rgb_optical_frame, under which both depth and rgb data is published, reflect reality?