I’m using a ZED2i camera with ROS 2 on an autonomous drone. When the camera is forward-facing (aligned with the nose), everything works fine. But when I mount it downward (lens facing the ground), I face orientation mismatches.
I tried correcting this using a static transform. However, most references use base_link as the parent and the camera frame as the child. When I follow that convention, I get a broken TF tree.
Does the ZED SDK expect the camera frame to be the parent and base_link as the child? Or is there a correct/recommended way to set the static transform for a downward-facing camera?