ROS2 TF Tranforms for B57

Questions & Answers
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1

Hi, below are a few questions regarding how camera transforms for a B57 are published in ROS 2

  • I am not clear on whether the camera node is supposed to publish the transforms stored in the camera or is it should be done externally with a tf pulisher?
  • Is there a URDF file for the B57? If not how can I relate the enclosure (step file) to the camera frame?
  • All the published CameraInfo topics use the same frame_id (optical_frame_) regardless of the camera placement (left or right). Is this normal?
    Thank you,
    Charles
2

Hi Charles,

I am not clear on whether the camera node is supposed to publish the transforms stored in the camera or is it should be done externally with a tf pulisher?

We have a tutorial explaining the involved tf frames, which should clear things up. Let me know if any questions remain afterwards.

Is there a URDF file for the B57? If not how can I relate the enclosure (step file) to the camera frame?

We have Xacro files in our ROS repository for most of our cameras, however, B57 and C57-L are yet to be written. There is also a tutorial on the the Ensenso URDF Files which explains things in detail and might help you write your own Xacro file for the B57 if you currently need it. The step file can be downloaded here.

All the published CameraInfo topics use the same frame_id (optical_frame_) […]

The frame id of your camera should contain the camera serial number, like this: optical_frame_<serial>. I’ve explained this in a another ROS issue here on the forum.

[…] regardless of the camera placement (left or right). Is this normal?

With camera placement you mean the left and right mono camera of the 3D camera? At any rate: the 3D is always in regard to the left mono camera (if the camera is not linked to another frame).

Kind regards
Benny

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There is now v2.1.3 of the Ensenso ros_driver including the URDF/Xacro for the B57.

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