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Depending on the launch file you use for your kinect, it might be that there is already a static_transform_publisher
running that publishes a tf between camera_link
and camera_rgb_optical_frame
. You can check that easily by running
rosrun tf tf_monitor
If you want, you can easily give this camera_rgb_optical_frame
as base link frame id to fovis_ros:
rosrun fovis_ros stereo_odometer _base_link_frame_id:=/camera_rgb_optical_frame
fovis_ros will then publish movements through tf and odometry messages using /odom as fixed frame and /camera_rgb_optical_frame as the moving (child) frame. If you set the fixed frame in rviz to /odom you should see the camera frames moving while moving the kinect.