SimoneMic
commented
1 week ago Pointcloud_alignement_SN002.webm
I tested on ergoCubSN002 the same setup: as you can see from the video above the pointcloud is well aligned. The ground floor lies on the plane of the feet soles.
So this means that it's an hardware issue limited to ergoCubSN001
Robot Name 🤖
ergoCub 1.1 S/N:001
Request/Failure description
I've noticed that there is an angle offset in some joint of the kinematic chain: starting from the head, to the robot feet soles. This can be seen immediately by portraying the camera 3D pointcloud and the robot TFs, with the robot standing still on the floor. In this situation, the camera point on the floor are not aligned with the feet frames.
I thought about some possible causes:
This doesn't happen in simulation
Detailed context
I have used ROS2 and the package
robot_state_publisherto reconstruct the transforms, while using the urdf fromergoCubSN001. Here are the result:The purple floor that you can see is the map, and it's lying on the feet soles plane. As you can see, the pointcloud reconstructed from the camera depth is penetrating the ground floor.
This, however, doesn't happen in simulation:
I am not expecting the pointcloud to be perfectly aligned with the floor on the feet, but this error is to big
Additional context
No response
How does it affect you?
This impacts all the measurements taken from the head and transformed in any other reference frame from below the neck. Giving thus wrong quantities and introducing an error.