From dbf1dca863ef9ba279d909532c56dcb0e26ca200 Mon Sep 17 00:00:00 2001 From: pulipakaa24 Date: Tue, 10 Feb 2026 14:40:48 -0600 Subject: [PATCH] debug - change child frame to actual pointcloud frame --- start_camera.launch.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/start_camera.launch.py b/start_camera.launch.py index ce2cb18..51705d9 100644 --- a/start_camera.launch.py +++ b/start_camera.launch.py @@ -183,11 +183,12 @@ def generate_launch_description(): output='screen', ) - # ── Static TF: world → camera_link ────────────────────────────────── + # ── Static TF: world → left ────────────────────────────────────────── # - # Provides a fixed frame for RViz. Identity transform places - # camera_link at the world origin. The stereo calibration YAMLs - # handle the actual left↔right extrinsics. + # PointCloudNode publishes points2 with frame_id="left" (the left + # camera's node name). RViz needs a TF path from its fixed frame to + # "left" — this identity transform provides it. The left↔right + # extrinsics are encoded in the camera_info P matrices, not in TF. tf_publisher = Node( package='tf2_ros', executable='static_transform_publisher', @@ -195,7 +196,7 @@ def generate_launch_description(): '--x', '0', '--y', '0', '--z', '0', '--yaw', '0', '--pitch', '0', '--roll', '0', '--frame-id', 'world', - '--child-frame-id', 'camera_link', + '--child-frame-id', 'left', ], )