Zed_ros2_wrapper odemetry tf

Software ROS2
1

Hi,

I am using a zedxm camera to publish odometry and then fusing cam odom with wheels odom. The camera is 0.33 cm ahead of base_link, and is configured on the xacro model. However, it seems the cam odom messages are on cam_frame and not on base_link. Is there a way to get the cam odom on the base_link frame?

2

Please learn more about this by reading the Robot Integration documentation.

3

Hi @Myzhar ,

I have already followed this link to integrate the zed.

Here is the xml that I have on the xacro. The tf tree is in accordance with what is stated in its documentation.

<xacro:unless value="$(arg use_zed_localization)"> 
	<joint name="front_cam_joint" type="fixed">
		<parent link="base_link"/>
		<child link="front_cam_camera_link"/>
		<origin rpy="0.0 0.0 0.0" xyz="0.33 0.0 0.4" />
	</joint>
</xacro:unless>

Now, I want to get the cam odom on the base_link and not on the cam frame. Is it a limitation of the wrapper or an issue on my side?

4

Please send a picture of your TF Tree.
You can use rqt to generate it

5

Here it is!

tf_tree
tf_tree762×764 63.4 KB

6

The TF tree is correct. To obtain the odometry in the base_link frame you can use TF tools to transform it.