ROS2: Understand TF tree: camera_optical VS camera_optical/static #4352
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AmitNativ1984
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Problem:
I have created a stereo camera by setting up left and right cameras in the settings file, from which I want to calculate depth.
I use ros2 tf to find the baseline between the left and right cameras.
The
camera_info->header.frame_id
for left and right cameras, isleft_stereo_camera_optical
andright_stereo_camera_optical
respectively.However, looking in rviz, I see the relative distance between the
optical
frames is incorrect. Instead, the frame calledleft_stereo_camera_optical/static
andright_stereo_camera_optical/static
are positioned correctly.This is a problem because camera_info reports the
optical
frame, rather thanoptical/static
frame, and these are the frames used intf lookupTransform
.Also, the TF tree looks strange. I would expect the optical frame to be the child frame of the
odom_local_ned
.I would appreciate some help to understand what's going on.
Thanks!
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