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tf conflict in topics

asked 2019-03-10 20:32:11 -0500

new_bee007 gravatar image

I have a problem in my project about tf conflict. I want to fuse multi sensors to localize my robot more accurate 。So I use some existing ros_packages like 'robot_localization' 、'orbslam2_ros' 、 'ethzasl_icp_mapping' 、'laser_scan_matcher' . When I use camera_sensor in orbslam2_ros , it's tf need to input a topic name /camera_link (publish image) and /pointcloud (publish pointcloud) . But my camera topic already has a tf connected to base_link. So when I run 'orbslam2_ros' , the tf between the camera_link and base_link gone ,but appear another tf between camera_ link and pointcloud. they are different two tf(have no connection at all). I kown tf should not have two parents.could someone tell me how to solve this problem in another way. I will be grateful.

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answered 2019-03-13 03:15:34 -0500

fvd gravatar image

Generally, you only have to attach a camera's base_link somewhere in your scene. It should have a unique name, so no two cameras or sensors share the same frame name. You can refer to this question on how to do this.

I don't know what you mean by "appear another tf between camera_link and pointcloud". I also don't understand which frames are connected and which are not. Please do not mix up the terms "tf", "transforms", "frames" and "frame names" if you explain further.

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Asked: 2019-03-10 20:32:11 -0500

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Last updated: Mar 13 '19