EuRoC Forum

[ZdenekM]

Hello,

I updated track 1 simulator (update from 02.09.2014) and realized that frame_id of kinect2 in cloud message changed from simple

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kinect2_cloud_link

to prefixed

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simulation_ur5/kinect2_cloud_link

Was this change intentional? I'm not able to find any documentation about this change. The TF tree still contains frame named kinect2_cloud_link. Wrong frame_id of cloud message causes nasty problems...

Actually I'm bit confused as current Annex says:

The Kinect point cloud that can be obtained from the topic /kinect1/depth/points is given in relation
to the tf frame /kinect1/cloud_link. Same applies for kinect2.

as well as

You can listen to the following tf frames: kinect2_cloud_link - Origin of the kinect point cloud data, kinect2_link - Origin of the kinect link

Best,
Zdenek

[michieletto]

Hi Zdenek,
we actually don't know if the change was intentional, but we fixed it by inserting the line

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<param name="tf_prefix" value="/"/>

in the launcher file

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euroc2014_fhg/ipa325_euroc_sim/ipa325_euroc_sim/launch/euroc2.lauch

just before the robot_state_publisher node of the group /simulation_ur5

We are also wondering about links available during the simulation, and in general about TFs available during the final evaluation.
Several questions about these links have already arose from contestants, and actually few answers have been posted.
Is it possible to test our system in final evaluation like conditions in order to be sure to access to the right information?

Best.
Stefano

[ZdenekM]

Great, thanks for hint! Now it's ok.

[ipa-lth]

The change was not attentionally.
The fix to the launchfile will be included in the next update, exactly like michieletto stated above.

Until then feel free to add the "tf_prefix" parameter with value "/" to the launchfile euroc2.launch as described.

Best,
Lorenz