ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
Solved this problem by changing the depthimage_to_laserscan 'output_frame_id' to "camera_depth_frame" or "camera_link", ie:
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" >
<param name="scan_height" value="3"/>
<param name="output_frame_id" value="camera_depth_frame" />
<remap from="/image" to="/camera/depth/image_raw" />
</node>
Originally, had the output_frame_id has "camera_depth_optical_frame".
The tf tree is camera_link --> camera_depth_frame --> camera_depth_optical_frame but there's an inbuilt rotation of rpy (-1.571, 0, -1.571) rads in the last transform. Can be seen by:
rosrun tf tf_monitor camera_depth_frame camera_depth_optical_frame
Hence, the required static transform between base_link and the camera can be set as required for the particular robot.