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pointcloud_to_laserscan with camera pointed downward

asked 2019-09-12 04:25:01 -0500

june2473 gravatar image

so, I have d435 intel realsense camera and it is mounted at 1.3 meters above the floor: image description

I've tried to use pointcloud_to_laserscan package and I've got laserscan data angled: image description

How can I get laserscan data parallel to the floor?

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similar question and not answered yet:

june2473 gravatar image june2473  ( 2019-09-12 04:27:47 -0500 )edit

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answered 2019-09-12 05:28:59 -0500

Your getting this problem because pointcloud_to_laserscan is using your RGB-D cameras frame of reference instead of a leveled one which compensates for it's angle.

You can use the ~target_frame parameter to reference a different TF frame which can fix this.

You'll need to use a static_transform_publisher to add a new frame to your robot with the z axis facing horizontally away from the base and y axis pointing down. Then set the ~target_frame parameter to this new frame.

Hope this helps.

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thanks, it helped

june2473 gravatar image june2473  ( 2019-09-12 06:01:03 -0500 )edit

why new frame? can i just set it to base_footprint frame?

june2473 gravatar image june2473  ( 2019-09-12 06:57:37 -0500 )edit

It depends if pointcloud_to_laserscan uses the optical frame convention instead of the standard ROS frame convention. So the base_footprint frame may be oriented the wrong way for this. But give it a try and let us know.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-09-12 07:09:04 -0500 )edit

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Asked: 2019-09-12 04:25:01 -0500

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Last updated: Sep 12 '19