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Right now I'm using viso2_ros to get a set of odometry information. Viso2 publishes in the odom frame such that my rover moves in the z direction. My IMU+GPS system publishes in the odom frame such that my rover moves in the x direction. How can I reconcile these two differences?
That sounds like what I would expect based on this explanation in the viso2_ros wiki:
NOTE: The coordinate frame of the camera is expected to be the optical frame, which means x is pointing right, y downwards and z from the camera into the scene.
The wiki also explains:
To be able to calculate robot motion based on camera motion, the transformation from the camera frame to the robot frame has to be known.
So you need to change the frame which your camera is outputting images on to be something other than odom (like /camera_link), and then you need to define the /camera_link to /base_link transform.
Hi stevejp, thanks for your comment. I figured out what my issue was. I had accidentally set use_sim_time to false in my launch files. As a result, viso2 did not read the tf tree that I was publishing.
@OwnageManFromLOL can you please write that up as an answer?
Asked: 2018-03-24 10:44:23 -0500
Seen: 125 times
Last updated: Mar 26 '18
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