ZED positional tracking - TFs

Software ROS2
1

When I launch the ZED cameras, the TF tree is map → odom → camera, and what I would like to have is: map → odom → base_link → camera
How can I fix this?

Thanks

2

Hi @leonel
Welcome to the StereoLabs community.

Please read this section of our ROS 2 documentation with all the required details.

3

Hi Myzhar,
I have take a look of that documentation and other posts on the forum.
My question is, when we use the “ZED positional tracking” and the GNSS fusion, it is possible to have the tfs like this “map → odom → base_link → camera”?
Or we need to use a own robot_localization configuration?

4

This is not a requirement to make the robot work.
If you use our camera as the only localization method, then you can consider the base_link as a child of zed_camera_link:
map → odom camera → base_link
This will not break the robot setup.

If you have instead other localization and odometry sources, then you must use robot_localization to fuse them all and disable publish_tf in the ZED nodes

5

Hi Leonel,
Thank you for reaching out to us.

Can you provide a base robot_localization configuration for ROS2 that you have (or very close) on your fusion component?

We do not normally use this setup because we use our internal configuration, not fusing other sensor data.

If you want to use robot_localization or other sensor fusion packages, I recommend you ask to the ROS 2 community: https://robotics.stackexchange.com/

Best regards,

Walter

Walter Lucetti
Senior Computer Engineer
SDK / Robotics / HW
Stereolabs Support