Zed2i config: initial_base_pose

Software
1

I have been trying to set the initial pose of my Zed2i and am facing issues in getting the correct transform.

I want the camera to have an initial position of xyz: (0,0,0) and rpy:(0,0,pi/4). i.e. something like this:

image
image3024×4032 1.35 MB

but setting the same xyz rpy as is does not gove the desired rotation. What is the fix here?

2

NOTE: I am trying to set the initial_base_pos param in common_stereo.yaml

3

Hi @kuku929
are you using GEN_1 or GEN_2?

4

I am using GEN_1. was facing some problems with drifting odometry on GEN_2

5

Try to set set_gravity_as_origin to false. This will allow you to set an initial orientation