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Connect camera TF tree and robot TF tree

asked 2019-03-28 23:21:56 -0500

A_YIng gravatar image

Hello, I'm a newer of ROS.

I want to add the kinect camera to my Industrial robot working environment.

So, I follow this tutorials to set up all of confirgure.

When I launch the moveit demo.laucnch file, it shows error messages below.

[ WARN] [1553832710.822016764]: No transform available between frame 'kinect2_rgb_optical_frame' and planning frame '/world' (Could not find a connection between 'world' and 'kinect2_rgb_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1553832710.822063875]: No transform available between frame 'kinect2_link' and planning frame '/world' (Could not find a connection between 'world' and 'kinect2_link' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1553832710.822099052]: No transform available between frame 'kinect2_ir_optical_frame' and planning frame '/world' (Could not find a connection between 'world' and 'kinect2_ir_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)

And this is the situation of TF tress.

image description

Anyone can help me?

Thanks a lot.

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answered 2019-03-29 00:19:04 -0500

Your tf tree is looking for camera_link however your kinect broadcasting sensor msgs in kinect2_link frame. A simple way is that use a static transform publisher to link kinect2_link and camera_link, you could execute the following command line

rosrun tf static_transform_publisher 0 0 0 0 0 0 camera_link kinect2_link 10

check this for reference http://wiki.ros.org/tf#static_transfo...

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Asked: 2019-03-28 23:21:56 -0500

Seen: 149 times

Last updated: Mar 29