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ros-industrial-attic / workcell_explorer

Repository for GSoC 2018 focusing on creation of a ROS package for Robotic Workcell exploration
Apache License 2.0
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Octomap flipped #3

Closed aadityasaraiya closed 6 years ago

aadityasaraiya commented 6 years ago

Hi!

So I was working with an Octomap with the YAK package for the process of 3-D reconstruction using Kinect Fusion. However, that led me to recognise an issue which I had suspected since long.

As seen in the picture below, in the Gazebo window, even when the Kinect sensor is facing straight with no objects in its path, it still detects the circular grey sphere which is placed at an anticlockwise 90 degrees rotation to the Kinect sensor. The Octomap generated (in purple) is also flipped 90 degrees to the robot in Rviz. The sensor_kinect.yaml file is taking data from the camera/depth/points topic which is used to publish the Octomap.

octomap_issue_2

This is the current view of the camera at the camera_depth_image_raw topic.

camera_view_flipped

I suppose the problem is in the camera_depth_optical_frame and camera_rgb_optical_frame at Line 373 and Line 405 which is somehow rotating the view by 90 degrees. The requirement of optical frames was supposedly so that the axes in Gazebo and RViz match each other.

The gazebo reference tag at Line 422 should take the camera_depth_optical_frame as reference or camera_depth_frame as the reference?

I am bit confused on how to go about this.

Thanks in advance.

@Levi-Armstrong

aadityasaraiya commented 6 years ago

Further discussion carried out at this issue thread.