bottom cam tf error in ardrone_autonomy [closed]

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Hi all,

As far as I understand, there is a problem with the transform of base to bottom_cam in ardrone_autonomy. The problem is as follows: In ardrone_driver.cpp around line 92~97 we see the following code.

// Bottom Cam to Base (Bad Assumption: No translation from IMU and Base)
// TODO: This should be different from Drone 1 & 2.
tf_base_bottom = tf::StampedTransform(
            tf::Transform(
                tf::createQuaternionFromRPY(180.0 * _DEG2RAD, 0.0, 90.0 * _DEG2RAD),
                tf::Vector3(0.0, -0.02, 0.0)),
            ros::Time::now(), droneFrameBase, droneFrameBottomCam
            );

1) The above rotation makes the x-axis of the bottom_cam point towards the y-axis of the ardrone_base_link while the y-axis of the bottom_cam point towards the x-axis of the ardrone_base_link. This gives trouble if the bottom_cam observe, for instance, a marker like alvar (ar_track_alvar) which is aligned with the ardrone_base_link; it makes the forward and backward reversed.

2) I guess the translation in the negative Y direction is also wrong. May be it should be in the negative Z direction from the ardrone_base_link

3) Just a minor matter: the comment should also be corrected to Base to Bottom cam (not bottom to base).

So, I suggest

tf_base_bottom = tf::StampedTransform(
            tf::Transform(
                //tf::createQuaternionFromRPY(180.0 * _DEG2RAD, 0.0, 90.0 * _DEG2RAD),
                tf::createQuaternionFromRPY(-180.0 * _DEG2RAD, 0, -90.0 * _DEG2RAD),
                //tf::Vector3(0.0, -0.02, 0.0)),
                tf::Vector3(0.0, 0.0, -0.02)),
            ros::Time::now(), droneFrameBase, droneFrameBottomCam
            );

By the way, there was a similar question at link

Thank you

CS