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You don't create individual frames in ROS you define the relationships between them. Looking at your tf_frame graph, the SVO package has already created by world frame by defining the relationship between the camera and the world.

Your problem here is that you have two unconnected TF trees, is the camera used by SVO either the bottom cam or front cam on your drone? If so then you simply need to update the name of the cam_pos frame used by SVO to match the appropriate camera on your drone. If it's a different camera then you need to create an additional static transform defining the position of that camera within your ardrone_base_link frame.

Hope this helps.