Huan Yu

> hei @YuHuan1021 did you run the t265 driver before t265_depth ? what is your fixed reference? I run the realsense-ros package for driving T265: `roslaunch realsense2_camera demo_t265.launch` In rviz,...

> hei @YuHuan1021 did you run the t265 driver before t265_depth ? what is your fixed reference? Maybe I should build one **tf** between **t165_depth** to **camera_odom_frame**?

To add a **tf**: `rosrun tf static_transform_publisher 0 0 0 0 0 camera_link t265_depth 10`, then the problem is solved. But the pointclouds look so bad. Are they normal? ![t265...

> did you put you intrinsics in the yaml file? also check your resolution Oh, I didn't check the yaml file. I will try. Thanks so much!

Hi! I have made sure the yaml file is correct, but it's still the same as the picture I commented before. What about your show? @tiralonghipol

> > 添加一个**tf** : `rosrun tf static_transform_publisher 0 0 0 0 0 camera_link t265_depth 10`，然后问题就解决了。但是点云看起来很糟糕。他们正常吗？ > > 你好！@YuHuan1021 我看到你的形象。点云似乎在 z 轴上， 这是正确的吗？ 和我的方法一样  Sorry, I haven't continued this...