Re: Two kinects connect to two Raspberry Pi 3 both streaming to a computer (RTABMAP/RVIZ)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Two-kinects-connect-to-two-Raspberry-Pi-3-both-streaming-to-a-computer-RTABMAP-RVIZ-tp4295p4304.html

Hi,

Can you show your TF Tree ($ rosrun tf view_frames)? The base_link would be linked to cameras with those static_transform_publishers:

<node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
      args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera1_link 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera2_tf"
      args="-0.1325 -0.1975 0.0 -1.570796327 0.0 0.0 /base_link /camera2_link 100" />

What package do you use to start the kinects? I think if the camera namespace is set to camera1, the camera link would be named /camera1_link. If both camera nodes publish TF under same name /camera_link, the cameras will be shown one over the other. The frames would appear at 90 degrees like in the first screenshot of this post: https://github.com/introlab/rtabmap_ros/issues/134#issuecomment-263350458

cheers,
Mathieu