VOXL MPA_to_ROS rostopics not subscribing to anything

[Darshit Desai]

@Darshit-Desai @Moderator Can anyone reply on this post?

[Darshit Desai]

@Darshit-Desai Can anyone help with this? @tom

[ben grocholsky]

@Darshit-Desai this is a more generic ROS tf transform network question than anything specific to ModalAI devices. You can get any result you'd like by adding appropriate frames to map or vehicle in the tf tree. For example, since rviz is hard coded to expect z axis upwards and everything is easier with z axis down, I'll attach an ENU frame to every fixed map NED frame and vehicle carried body FRD frame. That allows for all algorithms to be implemented in NED/FRD and still use ROS visualization by selecting ENU frames as fixed and view.

Check out the tf documentation http://wiki.ros.org/tf2

The static transform publisher is a quick way to test changes. Then you'll want to explore using http://wiki.ros.org/urdf

[Darshit Desai]

@ben-grocholsky It shows up the same in VOXL PORTAL too.
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?

[Darshit Desai]

@Darshit-Desai I wanted to ask one more follow up to this question? The datasheet in voxl-documentation says the PMD TOF runs at 45 fps for ranging distances less then 1 metres. Is there a way to set that?

[Darshit Desai]

@Darshit-Desai @ben-grocholsky @Moderator

[Moderator]

@Darshit-Desai No, there is no current way to set that

[Darshit Desai]

@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:

@ben-grocholsky It shows up the same in VOXL PORTAL too.
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?

@Moderator

[ben grocholsky]

@Darshit-Desai the recommendation to learn about tf, urdf, and xacro in ROS was because that's a way to achieve what you're asking for. If you get the launch and config files right then ROS tools such as rviz will do what ever you want without writing any code.

[Darshit Desai]

@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:

Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?

Hi sorry, I wanted to ask about the intrinsics that was highlighted by mistake. @ben-grocholsky