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debug - change child frame to actual pointcloud frame

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This commit is contained in:
pulipakaa24
2026-02-10 14:40:48 -06:00
parent ad1663da7a
commit dbf1dca863
1 changed files with 6 additions and 5 deletions
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11
start_camera.launch.py
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@@ -183,11 +183,12 @@ def generate_launch_description():
output='screen', output='screen',
) )
# ── Static TF: world → camera_link ────────────────────────────────── # ── Static TF: world → left ──────────────────────────────────────────
# #
# Provides a fixed frame for RViz. Identity transform places # PointCloudNode publishes points2 with frame_id="left" (the left
# camera_link at the world origin. The stereo calibration YAMLs # camera's node name). RViz needs a TF path from its fixed frame to
# handle the actual left↔right extrinsics. # "left" — this identity transform provides it. The left↔right
# extrinsics are encoded in the camera_info P matrices, not in TF.
tf_publisher = Node( tf_publisher = Node(
package='tf2_ros', package='tf2_ros',
executable='static_transform_publisher', executable='static_transform_publisher',
@@ -195,7 +196,7 @@ def generate_launch_description():
'--x', '0', '--y', '0', '--z', '0', '--x', '0', '--y', '0', '--z', '0',
'--yaw', '0', '--pitch', '0', '--roll', '0', '--yaw', '0', '--pitch', '0', '--roll', '0',
'--frame-id', 'world', '--frame-id', 'world',
'--child-frame-id', 'camera_link', '--child-frame-id', 'left',
], ],
) )