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Transform Realsense T265 odom

asked 2021-08-12 17:56:55 -0500

AutoCar
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Hi, I have Realsense T256 installed on my robocar. However, the position of the T256 has 90 degree rotation related to the car. So when I get the odom messege from Realsense, I would like to rotate it along the Z direction by 90 degree. How can I rotate the realsense odom with C++ code?

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answered 2021-08-12 20:31:42 -0500

Mike Scheutzow
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The ros way to handle this is to properly add the t265_sensor to the Transform Frame tree using either urdf or a static_transform_publisher ros node. If done right, all your other nodes will be able to use the data without you doing this transformation manually.

The tf2 ros packages are available to code a transformation between frames.

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Asked: 2021-08-12 17:56:55 -0500

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Last updated: Aug 12 '21

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Transform Realsense T265 odom