search

ysl208 / iRoPro

iRoPro on Baxter
MIT License
3 stars 0 forks source link

detected point cloud and objects are not aligned with robot model #55

Closed ysl208 closed 3 years ago

ysl208 commented 3 years ago

When i detect objects on the UI, then display the Pointcloud2 and markerarray for the respective scenes, as well as the robot model, they dont align

ysl208 commented 3 years ago

test the surface segmentation with rosrun surface_perception demo base_link cloud_in:=/realsense_wrist/depth_registered/points

and display the Marker on rviz to see if it detects the objects. Try different frames instead of base_link

ysl208 commented 3 years ago

If the correct frame_id has been found and works on the demo, make sure it is the same as the robot_config.cpp > base_link().

There was a hardcoded cloud_msg.header.frame_id in surface_segmentation_action.cpp but has now been changed to use the base_link() fixed in 115c3eb748a97e6f36e050358aa09c9eee41d990