i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 03:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add TF transformation section to coordinate and TF documentation

Browse Source
This commit is contained in:
ob-yalian
2025-11-28 17:34:42 +08:00
parent b2072a47b9
commit 1b6f872d5c
2 changed files with 24 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/source/4_application_guide/coordinate_and_tf.md
+12
View File
@@ -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: