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Wrong frame_id in /camera/fisheye2/camera_info topic

I'm currently working on a project where I want to combine the Realsense T265 with AprilTags to mitigate its drift. I managed to get the realsense wrapper up and running but noticed the following:

First I start up the T265 with "roslaunch realsense2-camera rs_t265.launch"

and I get the following console output:

started roslaunch server http://my-MacBookPro:45689/

SUMMARY
========
PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -1.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
* /camera/realsense2_camera/confidence_fps: 30
 * /camera/realsense2_camera/confidence_height: 480
 * /camera/realsense2_camera/confidence_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: t265
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: True
 * /camera/realsense2_camera/enable_fisheye2: True
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: True
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: camera/odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [121171]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5294de0a-66b7-11ed-be70-79d544bf41ce
process[rosout-1]: started with pid [121184]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [121191]
process[camera/realsense2_camera-3]: started with pid [121192]
[ INFO] [1668717307.836843616]: Initializing nodelet with 4 worker threads.
[ INFO] [1668717307.937650127]: RealSense ROS v2.3.2
[ INFO] [1668717307.937694190]: Built with LibRealSense v2.50.0
[ INFO] [1668717307.937722356]: Running with LibRealSense v2.50.0
[ INFO] [1668717307.967923502]:  
[ INFO] [1668717307.979002432]: Device with serial number 109422111515 was found.   
[ INFO] [1668717307.979064228]: Device with physical ID 2-1-15 was found.
[ INFO] [1668717307.979096242]: Device with name Intel RealSense T265 was found.
[ INFO] [1668717307.979583113]: Device with port number 2-1 was found.
[ INFO] [1668717307.979632486]: Device USB type: 3.1
[ INFO] [1668717307.984912750]: No calib_odom_file. No input odometry accepted.
[ INFO] [1668717307.985290619]: getParameters...
[ INFO] [1668717308.036884948]: setupDevice...
[ INFO] [1668717308.036922848]: JSON file is not provided
[ INFO] [1668717308.036950055]: ROS Node Namespace: camera
[ INFO] [1668717308.036981865]: Device Name: Intel RealSense T265
[ INFO] [1668717308.037008518]: Device Serial No: 109422111515
[ INFO] [1668717308.037038088]: Device physical port: 2-1-15
[ INFO] [1668717308.037059613]: Device FW version: 0.2.0.951
[ INFO] [1668717308.037085825]: Device Product ID: 0x0B37
[ INFO] [1668717308.037107672]: Enable PointCloud: Off
[ INFO] [1668717308.037134633]: Align Depth: Off
[ INFO] [1668717308.037162753]: Sync Mode: Off
[ INFO] [1668717308.037199950]: Device Sensors: 
[ INFO] [1668717308.037287496]: Tracking Module was found.
[ INFO] [1668717308.037335045]: (Depth, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1668717308.037360593]: (Color, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1668717308.037389621]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1668717308.037422105]: num_filters: 0
[ INFO] [1668717308.037447749]: Setting Dynamic reconfig parameters.
[ WARN] [1668717308.039723516]: Param '/camera/tracking_module/frames_queue_size' has value 256 that is not in range [0, 32]. Removing this parameter from dynamic reconfigure options.
[ INFO] [1668717308.044040913]: Done Setting Dynamic reconfig parameters.
[ INFO] [1668717308.044520731]: fisheye1 stream is enabled - width: 848, height: 800, fps: 30, Format: Y8
[ INFO] [1668717308.044896217]: fisheye2 stream is enabled - width: 848, height: 800, fps: 30, Format: Y8
[ INFO] [1668717308.044939912]: gyro stream is enabled - fps: 200
[ INFO] [1668717308.044974073]: accel stream is enabled - fps: 62
[ INFO] [1668717308.045002904]: pose stream is enabled - fps: 200
[ INFO] [1668717308.045030816]: setupPublishers...
[ INFO] [1668717308.046291465]: Expected frequency for fisheye1 = 30.00000
[ INFO] [1668717308.092706278]: Expected frequency for fisheye2 = 30.00000
[ INFO] [1668717308.124082848]: setupStreams...
[ INFO] [1668717308.148105931]: SELECTED BASE:Pose, 0
[ INFO] [1668717308.152248454]: RealSense Node Is Up!
[ WARN] [1668717308.159356735]:

now checking for the topics with "rostopic list" I get the following

/camera/accel/imu_info
/camera/accel/metadata
/camera/accel/sample
/camera/fisheye1/camera_info
/camera/fisheye1/image_raw
/camera/fisheye1/image_raw/compressed
/camera/fisheye1/image_raw/compressed/parameter_descriptions
/camera/fisheye1/image_raw/compressed/parameter_updates
/camera/fisheye1/image_raw/compressedDepth
/camera/fisheye1/image_raw/compressedDepth/parameter_descriptions
/camera/fisheye1/image_raw/compressedDepth/parameter_updates
/camera/fisheye1/image_raw/theora
/camera/fisheye1/image_raw/theora/parameter_descriptions
/camera/fisheye1/image_raw/theora/parameter_updates
/camera/fisheye1/metadata
/camera/fisheye2/camera_info
/camera/fisheye2/image_raw
/camera/fisheye2/image_raw/compressed
/camera/fisheye2/image_raw/compressed/parameter_descriptions
/camera/fisheye2/image_raw/compressed/parameter_updates
/camera/fisheye2/image_raw/compressedDepth
/camera/fisheye2/image_raw/compressedDepth/parameter_descriptions
/camera/fisheye2/image_raw/compressedDepth/parameter_updates
/camera/fisheye2/image_raw/theora
/camera/fisheye2/image_raw/theora/parameter_descriptions
/camera/fisheye2/image_raw/theora/parameter_updates
/camera/fisheye2/metadata
/camera/gyro/imu_info
/camera/gyro/metadata
/camera/gyro/sample
/camera/odom/metadata
/camera/odom/sample
/camera/realsense2_camera_manager/bond
/camera/tracking_module/parameter_descriptions
/camera/tracking_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

Now there are two camerainfo topics for the left and right fisheye camera respectively but when I echo /camera/fisheye2/camerainfo I get the following "rostopic echo /camera/fisheye2/camera_info"

---
header: 
  seq: 7
  stamp: 
    secs: 1668717726
        nsecs: 438105106
      frame_id: "camera_fisheye1_optical_frame"
    height: 800
    width: 848
    distortion_model: "equidistant"
    D: [-0.009899236261844635, 0.04241156950592995, -0.039201319217681885, 0.006696963217109442]
    K: [286.1690979003906, 0.0, 422.3638916015625, 0.0, 286.0538024902344, 392.15899658203125, 0.0, 0.0, 1.0]
    R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
    P: [286.1690979003906, 0.0, 422.3638916015625, -18.192296981811523, 0.0, 286.0538024902344, 392.15899658203125, -0.090825155377388, 0.0, 0.0, 1.0, 0.0]
    binning_x: 0
    binning_y: 0
    roi: 
      x_offset: 0
      y_offset: 0
      height: 0
      width: 0
      do_rectify: False
    ---

Under frameid it states "camerafisheye1opticalframe" but for correct AprilTag localization I need the frame to be "camerafisheye2optical_frame".

I've deleted the realsense package and reinstalled it again from source but the wrong frame_id remains and I don't know how to fix it.

However the frame_id for /camera/fisheye1 is correct but I would like to use both fisheyes for AprilTag detection

"rostopic echo /camera/fisheye1/camera_info"

---
header: 
  seq: 15613
  stamp: 
    secs: 1668782829
    nsecs: 981781006
  frame_id: "camera_fisheye1_optical_frame"
height: 800
width: 848
distortion_model: "equidistant"
D: [-0.01221666019409895, 0.05299282819032669, -0.050446439534425735, 0.010461750440299511]
K: [286.4408874511719, 0.0, 416.8634948730469, 0.0, 286.3320007324219, 388.0907897949219, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [286.4408874511719, 0.0, 416.8634948730469, 0.0, 0.0, 286.3320007324219, 388.0907897949219, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---

Asked by Riyo93 on 2022-11-18 09:49:47 UTC

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