openni.launch creates a different frames tree for the Kinect [closed]
I am using openni pkg on a PR2 that has a kinect sensor attached and running goovy. I need to be able to transform between the camera frame and the PR2 links.
When I launch openni :
roslaunch openni_launch openni.launch
A different camera frame tree is created that is not connected to the PR2
I tried changing the camera parameter for the openni_launch to be head_mount_kinect but that din't bring the camera tf frames back on the tree.
The only possible solution that I found is to add another fixed frame to tf specifying that the camera and the head_mount_kinect are the same frame with no translation or rotation between them.
That seems to much of a hack, is there a more elegant solution?
Closed for the following reason
the question is answered, right answer was accepted by
rleontie
close date 2014-02-11 07:00:01
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