Hello,

i am currently working with the nao and i am getting some really strange behavior, when i use the camera of the nao. But step by step:

1.) If i only start the nao camera, more specific the top camera, everything works fine. I am able to display the data in rviz, as camera data. I use as fixed frame the correct frame "CameraTopframe". The camerainfo is published and recivied correctly. Everything works as expected.

Now the problem:

If i add a statictransform to the launch file, between the frames "world" and "CameraTopframe" (The rest stays the same!!) nothing works. Rviz ist not able to display the incoming data as camera data. Even if i choose as fixed frame again "CameraTopframe" like in the step before. Rviz is able to display the data as image data, using the world or the CameraTopframe.

My conclusion is that something is wrong with the /camerainfo data, which is needed for displaying the data as camera data. But how is it possible that a static transform, somehow destroys the /camerainfo data completely? The topic /camerainfo is still there and data is published, like in step 1.). Even Rviz is complaining about the /camerainfo stuff:

Warning: No Camerainfo recieved on .....

Hoping for some help, because i really don't know what to do.

EDIT:

I solved the problem by changing a line in the nao_camera.py script. It seems that it was some kind of a timing problem. I changed the line "img.header.stamp = rospy.Time(stampAL)" to "img.header.stamp = rospy.Time.now()". After that everything works perfect.