• Categories
  • Recent
  • Tags
  • Popular
  • Users
  • Groups
  • Register
  • Login
ModalAI Forum
  • Categories
  • Recent
  • Tags
  • Popular
  • Users
  • Groups
    • Register
    • Login

    wrong tof frame id

    Ask your questions right here!
    3
    6
    415
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • T
      tiralonghipol
      last edited by 31 Aug 2023, 11:46

      after digging and playing around a bit with the Voxl2 (StarlingV2) I think I figured out that the pointcloud coming from the tof sensor is published wrt world frame.
      Is this intended? is there any way to change this?

      To give some more context, I am using the voxl_mpa_to_ros_node and if I echo the tof topic, here is the output:

      voxl2:~$ rostopic echo -n 1 /tof_pc/header
      seq: 263
      stamp: 
        secs: 1693480645
        nsecs: 400399933
      frame_id: "world"
      
      

      moreover, the tf between the odometry and the fixed world frame is not published (?)
      if you can point me where to add this simple code I can do it myself (assuming is accessible)

      Hope this is clear, thank you

      T 1 Reply Last reply 20 Sept 2023, 07:31 Reply Quote 0
      • T
        tiralonghipol @tiralonghipol
        last edited by 20 Sept 2023, 07:31

        @Moderator
        any update on this?
        Thank you!

        K 1 Reply Last reply 11 Oct 2023, 07:17 Reply Quote 0
        • K
          kerct @tiralonghipol
          last edited by 11 Oct 2023, 07:17

          @tiralonghipol @Moderator I'm also trying to use the /tof_pc data and would like more information on this world frame. Is the origin wherever the drone was when it boots up? What's the direction of the world frame?

          The only information I can find is the transformation between the body frame and the tof camera in the extrinsics file, but I can't find anything about how this relates to the world frame.

          M 1 Reply Last reply 12 Oct 2023, 00:00 Reply Quote 0
          • M
            Moderator ModalAI Team @kerct
            last edited by 12 Oct 2023, 00:00

            @kerct tof_pc does not relate to world frame. You need something like voxl-mapper to fuse VIO with tof_pc into world frame

            K 1 Reply Last reply 12 Oct 2023, 05:01 Reply Quote 0
            • K
              kerct @Moderator
              last edited by 12 Oct 2023, 05:01

              @Moderator okay, so I guess the frame ID in the /tof_pc ROS topic is misleading. Is the frame supposed to be the tof camera?

              Also just to confirm if my app communicates over MAVROS to obtain the local position, the IMU being used is from imu_px4 and not imu_apps? (I'm using Starling)

              T 1 Reply Last reply 17 Oct 2023, 07:40 Reply Quote 0
              • T
                tiralonghipol @kerct
                last edited by 17 Oct 2023, 07:40

                @kerct I ended up building the mpa wrapper from source
                There you can modify the frames id and create your own tf tree
                took a while but it works now

                1 Reply Last reply Reply Quote 0
                • First post
                  Last post
                Powered by NodeBB | Contributors