Comments (1)
RealSenseCustomerSupport
commented on August 22, 2024
Hi,
Sorry for the slow response.
- based on your script setup, it should be camera_imu_frame. The coordinates described in "ROS2(Robot) vs Optical(Camera) Coordination Systems" section at https://github.com/IntelRealSense/realsense-ros/tree/ros2-development and transformation can be checked with TF in rviz2 as well as the /tf_static topic.
- what kind of drift are you seeing? to isolate the issue, in addition, check the raw accel and gyro data comes out of the realsense sdk. Tools like realsense viewer and motion example https://github.com/IntelRealSense/librealsense/tree/development/examples/motion will be helpful, and also the raw data come out of accel and gyro ros topics.
- The IMU should also be calibrated so the data out of realsense sdk is compensated. https://www.intelrealsense.com/wp-content/uploads/2019/07/Intel_RealSense_Depth_D435i_IMU_Calibration.pdf and https://github.com/IntelRealSense/librealsense/blob/development/tools/rs-imu-calibration/rs-imu-calibration.py
Best Regards!
from realsense-ros.
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