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Published 20 hours ago • verified publisher icon pal-robotics

doubt about Astra S location in URDF

Open bmegli opened this issue 2 months ago • 0 comments

We seem to be experiencing some offset of Astra S xtion_rgb_frame compared to real hardware

  • seems to be 2 cm on each axis

In particular, should xtion_orbbec_aux_joint_frame and link be set to (0,0,0)?

https://github.com/pal-robotics/tiago_robot/blob/24c6abac8d96397c60bf560d2b95cb7763c95a68/tiago_description/urdf/sensors/orbbec_astra.urdf.xacro#L80-L89

Should data extracted from tf2 tree for TIAGo Astra S camera, in particular xtion_rgb_optical_frame, under which both depth and rgb data is published, reflect reality?

bmegli avatar Apr 18 '24 11:04 bmegli