I'm trying to simulate a stackingbox with some elements and create a PointCloud with the kinect camera and now im trying to label these points with the ids of the elements with an rayshape
The cam is at "0.0 0.0 1.9 0.0 1.5707963267948966 0.0" so i tried to transfrom the frame with <node pkg="tf2_ros" type="static_transform_publisher" name="world_broadcaster" args="0.0 0.0 1.9 0.0 1.5707963267948966 0.0 map depth_camera_link" />
but than the map frame is not at (0,0,0)
when I use
<node pkg="tf2_ros" type="static_transform_publisher" name="world_broadcaster" args="0.0 0.0
-1.9 0.00000, 0.00000, 0.00000, 1.00000 map depth_camera_link" />
Then it is in the middle of the stackingbox where also the root point of the world is
But unfortunately the ray laser is not completely correct
I use in these example a banana as an element
Ray Code here
My Source code here
Edit: Now, I found out that the frame is not completely correct (HERE)
<node pkg="tf" type="static_transform_publisher" name="ime_slam_camera_tf" args="0 0 0 -1.57079632679 0 -1.57079632679 depth_camera_link kinect_optical_link 10"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="world_broadcaster" args="0.0 0.0 1.9 0.0 1.5707963267948966 0.0 map depth_camera_link" />
So i have now the transformation chain map -> depth_camera_link -> kinect_optical_link and "kinect_optical_link" is now my direct camera frame
The map frame is on the correct position but the ray sensor is only half right
