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Fixing TF frame links b/w multi camera nodes when using custom names #2709

Merged
merged 1 commit into from
Jun 27, 2023
Merged

Fixing TF frame links b/w multi camera nodes when using custom names #2709

merged 1 commit into from
Jun 27, 2023

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Arun-Prasad-V
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When two camera nodes are launched using multi_camera_launch.py,

  • if default camera names are used, the TF frames of those two cameras are linked as below:
    image

  • if customs camera names are used, they are not linked
    image

@Arun-Prasad-V
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Root cause:

  • The TF frame IDs are hardcoded in multi_camera_launch.py with default camera names

Fix:

  • Get the camera names during run time from LaunchConfiguration and update the TF frame IDs

@SamerKhshiboun SamerKhshiboun self-requested a review April 27, 2023 08:42
@SamerKhshiboun SamerKhshiboun self-assigned this May 1, 2023
SamerKhshiboun
SamerKhshiboun approved these changes Jun 27, 2023
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@SamerKhshiboun SamerKhshiboun left a comment

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Great, Works perfectly.

@Nir-Az Nir-Az merged commit afbf534 into IntelRealSense:ros2-development Jun 27, 2023
@Arun-Prasad-V Arun-Prasad-V deleted the multi_camera_tf_link branch August 10, 2023 05:34
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@SamerKhshiboun SamerKhshiboun SamerKhshiboun approved these changes

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@Arun-Prasad-V Arun-Prasad-V

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@Arun-Prasad-V @SamerKhshiboun @Nir-Az