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I have created a 2 wheeled robot with a kinect plugin. The kinect detects the objects but the depth cloud appears to be in z-axis instead of front-face view.
I tried changing the joint from top-joint to front-joint in fusion-360, but the problem still occurs.
Attached an image for reference.
Plugins in Gazebo publish data to a coordinate frame. This frame is defined inside the <frameName> tag, which is inside the corresponding <plugin> tag.
So look what's inside your plugin's <frameName>, it could be camera_link or camera_rgbd_frame or something else.
Next you will have set a different orientation for the joint that connects to a link with this frame name.
kinect.xacro or inside any other URDF or XACRO file of your robot. Look for where the joint and link are defined, it should look similar to this:
<joint name="camera_rgb_joint" type="fixed">
<origin xyz="0 0 0" rpy="1.57079 3.14159 1.57079"/>
<parent link="kinect_baselink"/>
<child link="camera_rgbd_frame" />
</joint>
<link name="camera_rgbd_frame"/>
Modify the values inside the tag <origin xyz="0 0 0" rpy="1.57079 3.14159 1.57079"/>.:
xyz specify the distance of the image with respect to the surface to which the camera is fixed. rpy specify the rotation (in radians) of the image (depth cloud).If your point cloud is not correctly oriented in Rviz try with different rpy values until a good match is reached.
Asked: 2021-03-14 13:11:48 -0500
Seen: 437 times
Last updated: Mar 17 '21
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This is most probably related to how you defined the joints and links in the URDF/XACRO file. Can you include the part related to the links for the Kinect camera? (e.g. kinect_joint, camera_rgb_frame, camera_rgbd_frame, camera_rgb_optical_frame, camera_link, ....)
I'm using default config-
<gazebo reference="world"> <sensor name="world" type="depth"> <!-- openni plugin has the x pointing towards the scene, so rotate to have z --> <pose frame="world">0.0 0.0 1.0 0.0 -1.5708 1.5708</pose> <camera> <horizontal_fov>0.74839718</horizontal_fov> <image> <width>1280</width> <height>1024</height> <format>L_INT8</format> </image> <clip> <near>0.1</near> <far>10.0</far> </clip> <noise> <type>gaussian</type> <mean>0.5</mean> <stddev>1.0</stddev> </noise> </camera> <plugin name="kinect_plugin" filename="libgazebo_ros_openni_kinect.so"> <baseline>0.1</baseline> <alwaysOn>true</alwaysUnfortunately your comment got cut-off, it is not showing everything inside the
<plugin>tag. Instead, edit your original post and additionally provide the joints and links in the URDF/XACRO file (without code comments).