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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.