recently I am working on a project with ROS2 Galactic. I am trying to use a Simulated ignition Gazebo Robot with it. The goal is to make the SLAM algorithm rtabmap working.
At the moment I am facing the problem, that the camera_info topic visualizes the image at the top (as shown in the picture). I found that Gazebo uses a different coordinate system (https://answers.gazebosim.org/question/26690/how-to-get-the-camera-matrix-of-a-camera-sensor-in-ignition-gazebo/), but I am not able to change the orientation. When I try to change the pose, only the camera angle (picture) changes but the camera_info stays at the top. In addition, the point cloud is displayed correct, so it makes no sense to me, to use a tf2_transformation in ROS2. I added the rgbd_camera sensor code. The pose relative has only an effect at the camera picture. Sadly, I think that's the problem why I am not able to get a map from rtabmap. Culd someone please help me? Visualization in Foxglove, used SDF file: sensors_demo.sdf from the ignition examples
<model name="rgbd_camera">
<pose>5 0 0.5 0 0.0 0</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="rgbd_camera" type="rgbd_camera">
<pose relative_to="rgbd_camera::link">0 0 0 0 0 3.14</pose>
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>rgbd_camera</topic>
<enable_metrics>true</enable_metrics>
</sensor>
</link>
</model>
