From 1b6f872d5ca92f1d6128898e0990c5548f681565 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Fri, 28 Nov 2025 17:34:42 +0800 Subject: [PATCH] Add TF transformation section to coordinate and TF documentation --- .../source/4_application_guide/coordinate_and_tf.md | 12 ++++++++++++ .../source/4_application_guide/coordinate_and_tf.md | 12 ++++++++++++ 2 files changed, 24 insertions(+) diff --git a/docs/en/source/4_application_guide/coordinate_and_tf.md b/docs/en/source/4_application_guide/coordinate_and_tf.md index 1a7c7a0c..2c3777ca 100644 --- a/docs/en/source/4_application_guide/coordinate_and_tf.md +++ b/docs/en/source/4_application_guide/coordinate_and_tf.md @@ -6,6 +6,18 @@ ![module in rviz2](../image/application_guide/image1.png) +### TF from coordinate A to coordinate B: + +In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position. + +You can view the camera's URDF model and coordinate system structure using the following command: + +```bash +ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro +``` + +![module in rviz2](../image/application_guide/image2.png) + ### ROS2 Robot Coordinate System vs Camera Optical Coordinate System * Point of View: diff --git a/docs/zh/source/4_application_guide/coordinate_and_tf.md b/docs/zh/source/4_application_guide/coordinate_and_tf.md index 5a4cd2a2..878a23c6 100644 --- a/docs/zh/source/4_application_guide/coordinate_and_tf.md +++ b/docs/zh/source/4_application_guide/coordinate_and_tf.md @@ -6,6 +6,18 @@ ![module in rviz2](../image/application_guide/image1.png) +### 从坐标系A到坐标系B的TF变换： + +在Orbbec相机中，原点（0,0,0）取自camera_link位置。 + +可以使用以下命令查看相机的URDF模型和坐标系结构： + +```bash +ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro +``` + +![rviz2中的模块](../image/application_guide/image2.png) + ### ROS2机器人坐标系 vs 相机光学坐标系 * 视角：