I'd like to change initial pose map to base_link

Myzhar · April 30, 2021, 7:27am

Ok, you simply need to modify the launch file used to start the ZED camera in order to provide the correct transform base_link → <camera_name>_camera_center.
For the ZED2 you find it here:

github.com

stereolabs/zed-ros-wrapper/blob/master/zed_wrapper/launch/zed2.launch#L31-L36


<arg name="cam_pos_x"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
<arg name="cam_pos_y"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
<arg name="cam_pos_z"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
<arg name="cam_roll"              default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_pitch"             default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
<arg name="cam_yaw"               default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->

Modifying those values you automatically modify the camera URDF thanks to xacro:

github.com

stereolabs/zed-ros-wrapper/blob/master/zed_wrapper/urdf/zed_descr.urdf.xacro#L56-L61


<!-- Camera Center -->
    <joint name="$(arg camera_name)_camera_center_joint" type="fixed">
        <parent link="$(arg base_frame)"/>
        <child link="$(arg camera_name)_camera_center"/>
        <origin xyz="$(arg cam_pos_x) $(arg cam_pos_y) $(arg cam_pos_z)" rpy="$(arg cam_roll) $(arg cam_pitch) $(arg cam_yaw)" />
    </joint>