Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

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

Conversation

Arun-Prasad-V
Copy link
Contributor

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
Copy link
Contributor Author

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
View reviewed changes
Copy link
Collaborator

@SamerKhshiboun SamerKhshiboun left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@SamerKhshiboun SamerKhshiboun SamerKhshiboun approved these changes

Assignees

@SamerKhshiboun SamerKhshiboun

@Arun-Prasad-V Arun-Prasad-V

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@Arun-Prasad-V @SamerKhshiboun @Nir-Az