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ROS1 ambiguous camera tf frame_ids #4578
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Hi @lukas-utopiacompression! Thanks for submitting the PR. I'd like to know why you didn't upgrade to ROS2 when you ran into this issue. |
Good morning @jonyMarino, Happy to help! We haven't transitioned for two reasons:
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Thanks for the reply, @lukas-utopiacompression. Keep in mind that you can use the Ros1-Ros2 Bridge to connect your project with ROS2 nodes. |
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Bug report
What's the issue you encountered?
When multiple vehicles (see settings.json below) specify a camera with the same name (e.g. "img0") ROS1's tf frame_ids become ambiguous i.e. only one of the drone has a transformation from itself to img0_body or img0_optical. However, all drones should have their own distinct transformation from their respective img0 frame to their NED frame.
Related PR #4478 fixes the same issue but for ROS2.
Related PR #4509 fixes this partially.
Screenshot of rqt_tf_tree, when camera frame_ids are ambiguous.
Screenshot of rqt_tf_tree, when camera frame_ids are distinct (e.g. by adding the vehicle_name to the frame_id):
Settings
settings.json
How can the issue be reproduced?
roslaunch airsim_ros_pkgs airsim_node.launch
Include full error message in text form
n/a
What's better than filing an issue? Filing a pull request :).
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