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HOW to visualize the point cloud with RVIZ

The included launch file camera_managed.launch.py will publish and remap all topics and services to /ifm3d_ros2/xxx, for example the point cloud topic will be remapped to /ifm3d_ros2/camera/cloud.

QoS reliability - best effort

When you open RVIZ for the first time and subscribe the point cloud topic to it, it will not be displayed as we need to change the default qualitty of service (QoS) settings per topic.

To change these settings:

  1. subscribe to a topic in RVIZ by adding it (ADD button)
  2. Expand the topic settings
  3. Select reliability and set it to Best Effort

Change axis directions to suit your interpretation of a robot coordinate reference system

We have removed the rotation parameter which have been part of the camera_managed.launch.py launch file which move the axis directions around. This decision was reached because we believe there should be only one place to change the extrinsic parameters to keep things unambiguous.
We suggest changing the extrinsic parameters via our JSON interface (see ifm3d) and the mapped dump and config ROS services for this. The extrinsic parameters are applied to every measurement (distance image, and point cloud).

If you would still like to add a tf publisher which switches the X-, and Z-axis please see the example below. Afterwards the Z-axis will measure positive values in the direction of the center optical ray of each camera.

 <node pkg="tf2_ros"
        type="static_transform_publisher"
        name="$(arg camera)_tf"
        args="0 0 0 -1.5707963267948966 0 -1.5707963267948966 $(arg frame_id_base)_link $(arg frame_id_base)_optical_link"
        respawn="$(arg respawn)" />