Kinect odometry pose message rotating frames [closed]

asked 2013-07-22 11:21:12 -0600

Pino gravatar image

updated 2016-10-24 08:35:12 -0600

ngrennan gravatar image


I'm trying to use the fovis_ros library with a kinect to publish the geometry_msgs/PoseWithCovariance message to a robot which uses the x-forward, y-left and z-up convention. For this I need the original mono_depth_odometer/odometry message to be published in a different axis from the original (which is x-right, y-down and z-front).

I have seen this question: But the following warnings appear when trying to run the "_base_link_frame_id:=/camera_rgb_optical_frame" parameter:

Unable to lookup transform, cache is empty, when looking up transform from frame [/camera_depth_optical_frame] to frame [/camera_rgb_optical_frame]

And the axis don't seem to change.

I basically need to rotate the original angles in which the message is published.

Do you have any suggestions of how could this be done?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-11-30 10:31:04.487027