TF problem when using camera
Hello All,
I am using Intel D415 for my robot. I have interfaced this camera in my robot with URDF. I am also able to generate the PointClouds and able to watch in RViz.
But here I am facing an issue. Whenever I launch camera node with RViz, TF goes bad, and it is showing the PointClouds direction somewhere else. This is a random behaviour. Sometime I get PointClouds in correct direction, in actual camera direction. I can clearly see that, when camera node is launched TF for sensor links goes bad, and showing somewhere else.
There may be 2 reasons for this problem:
Frame Rate: I am using the Frame Rate to be 30fps. May be because of high data rate, TF is going bad
URDF: I have defined camera links in my URDF. And these links have same names as needed from camera node. So there it is having some mis-match.
Can someone please let me know how to debug this issue. I am trying to change the frame rate to some lower value, but that is taking sometime and I asked support from Intel.
Saurabh
Try
roswtfto see if you have competing sources for the same tf frames."And these links have same names as needed from camera node", This is probably the cause of your problem. If two nodes are broadcasting the same transform with different values things go a bit strange. As @locasw said
roswtfwill highlight this for you if it's the problem.Hello Pete, thanks for your input. Actually problem is same, broadcasting tf from 2 sources. In realsense_camera, I was able to disable the publish_tf, but upgraded package i.e. realsense2_camera doesn't seem to be having this feature. Asked Intel to provide some equivalent.
Can you remove the redundant tf frame from your urdf?