Building tf_tree
Hi!
I am somewhat confused on how to setup an appropriate tf tree for my application. I am using the iai_kinect2 package ( https://github.com/code-iai/iai_kinect2 ) to run my kinect v2s. With the option "publish_tf" set to true, the bridge will publish the following transforms (sorry, cannot upload pictures):
- camera1_link -> camera1_rgb_optical_frame -> camera1_ir_optical_frame
- camera2_link -> camera2_rgb_optical_frame -> camera2_ir_optical_frame
I now calibrated my Kinects using images from the *_ir_optical_frame. So I thought I could include wolrd->camera1_ir_optical_frame and world -> camera2_ir_optical_frame into my tf tree. Which, since each frame is only allowed to have one parent, does not work as intended.
My question now is: What is the most elegant way of building the tf tree I want?
Thanks!
PS. I am using ROS1 Kinetic on a Ubuntu 16.04 machine (Ubuntu 4.4.0-31.50-generic 4.4.13)