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I'm currently doing some experiments with fovis_ros and a kinect . This works pretty well, but fovis uses an other type of coordinate frames where +X is to the right, +Y is down and +Z is forward. The thing is that none of the camera views in RViz are able to let the camera rotate around the Y axis instead of the X axis. This makes it kinda hard to get a nice view in RViz. It seems that RViz was only made for the coordinate frame conventions documented on this page: ros.org/wiki/geometry/CoordinateFrameConventions

Any of you guys encountered the same problem? Is there anyone with a solution for this problem?


Originally posted by Robbiepr1 on ROS Answers with karma: 143 on 2013-02-18

Post score: 1

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3 Answers 3

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Depending on the launch file you use for your kinect, it might be that there is already a static_transform_publisher running that publishes a tf between camera_link and camera_rgb_optical_frame. You can check that easily by running

rosrun tf tf_monitor

If you want, you can easily give this camera_rgb_optical_frame as base link frame id to fovis_ros:

rosrun fovis_ros stereo_odometer _base_link_frame_id:=/camera_rgb_optical_frame

fovis_ros will then publish movements through tf and odometry messages using /odom as fixed frame and /camera_rgb_optical_frame as the moving (child) frame. If you set the fixed frame in rviz to /odom you should see the camera frames moving while moving the kinect.


Originally posted by Stephan with karma: 1924 on 2013-02-18

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Post score: 3


Original comments

Comment by Robbiepr1 on 2013-02-18:
Thanks! That did the trick for now. Although it would be nice if there was some kind of setting in RViz itself.

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This is the standard camera optical coordinate system.

The easiest solution I see to your problem is to publish a transform between the camera system and the camera's optical system, e.g. by using a tf static_transform_publisher.

Then select that system in rviz instead of the optical on that, you have now.


Originally posted by dornhege with karma: 31395 on 2013-02-18

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Switching the up axis might be a useful feature in RViz. You're welcome to open a feature request ticket on https://github.com/ros-visualization/rviz/issues


Originally posted by dgossow with karma: 1444 on 2013-02-18

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Post score: 3


Original comments

Comment by Stephan on 2013-02-18:
+1! Especially for underwater robotics, where the standard coordinate system is NED (North East Down).

Comment by Robbiepr1 on 2013-02-18:
This would be a nice feature indeed. I will open a feature request on github

Comment by dgossow on 2013-02-19:
After reviewing this I would say that this is a likely feature for a future RViz release.

Comment by dgossow on 2013-02-19:
For further comments on the feature request please use the github tracker: https://github.com/ros-visualization/rviz/issues/597

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