Comments (6)
Hi @Karin-Sugi Are you using the RealSense ROS wrapper launch file rs_camera.launch with Melodic please?
If you are using rs_camera,launch, what happens if you set the launch file parameter publish_tf to False by adding the command publish_tf:=false to your roslaunch instruction?
from realsense-ros.
Hi, thanks for your quick reply!
I set publish_tf false, but it doesn't work. My launch file is below. I run realsense by including rs_camera.launch
. Also, both robot_description and camera_description are loaded by rviz.
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- configure camera input -->
<arg name="camera" default="camera" />
<arg name="camera_name" default="/$(arg camera)/color" />
<arg name="image_topic" default="image_raw" />
<arg name="queue_size" default="1" />
<!-- apriltag_ros continuous detection node -->
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros_continuous_node" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)">
<!-- Remap topics -->
<remap from="image_rect" to="$(arg camera_name)/$(arg image_topic)" />
<remap from="camera_info" to="$(arg camera_name)/camera_info" />
<param name="publish_tag_detections_image" type="bool" value="true" /><!-- default: false -->
<param name="queue_size" type="int" value="$(arg queue_size)" />
<!-- load parameters (incl. tag family, tags, etc.) -->
<rosparam command="load" file="$(find hauser_localization)/config/settings.yaml"/>
<rosparam command="load" file="$(find hauser_localization)/config/tags.yaml"/>
</node>
<!-- run realsense with point cloud -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="camera" value="$(arg camera)" />
<arg name="filters" value="pointcloud"/>
<arg name="publish_tf" value="false"/>
<!-- <arg name="unite_imu_method" value="linear_interpolation"/>
<arg name="enable_gyro" value="true"/>
<arg name="enable_accel" value="true"/> -->
</include>
<!-- Show on rviz -->
<include file="$(find hauser_viz)/launch/rviz/multi_robots.launch">
<arg name="camera_name" value="$(arg camera_name)" />
</include>
<!-- Calcurate robot attitude -->
<node pkg="hauser_localization" type="tags_center" name="tags_center" output="screen" />
<node pkg="hauser_localization" type="tag2robot" name="tag2robot" output="screen" />
Actually, I found another strange message in rviz as you can see in following image. It says Transform OK
and Failed to transform
. What do they mean??
to`
Thanks in advance,
Karin
from realsense-ros.
Hi, when i delete camera_description, new warning message was returned on terminal saying [ WARN] [1705547684.766363468]: Invalid argument "/camera_depth_optical_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like:
.
The /
on the top causes this problem? Then, how can i fix it?
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I do not know the answers to these questions unfortunately as my knowledge of TF is limited, and I carried out extensive research but could not find much relevant information either. I'm very sorry.
A person in a case with a non-RealSense camera at the link below suggested dealing with a missing transform between /world and /camera_depth_optical_frame by creating a static transform publisher.
https://groups.google.com/g/moveit-users/c/KCIPoSP3dB0/m/hkul9NqTBAAJ
from realsense-ros.
Hi @Karin-Sugi Bearing in mind the comment above, do you require further assistance with this case please? Thanks!
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Case closed due to no further comments received.
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