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This commit is contained in:
Joe Dong
2022-06-09 15:20:08 +08:00
parent 91e1e0ae5b
commit 265d88dd35
1 changed files with 2 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -2
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@@ -218,7 +218,7 @@ void OBCameraNode::setupPublishers() {
node_->create_publisher<CameraInfo>(topic, rclcpp::QoS{1}.best_effort()); node_->create_publisher<CameraInfo>(topic, rclcpp::QoS{1}.best_effort());
} }
extrinsics_publisher_ = node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>( extrinsics_publisher_ = node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"extrinsic", rclcpp::QoS{1}.transient_local()); "extrinsic/depth_to_color", rclcpp::QoS{1}.transient_local());
} }
void OBCameraNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) { void OBCameraNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
@@ -460,7 +460,7 @@ void OBCameraNode::calcAndPublishStaticTransform() {
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[DEPTH], publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[DEPTH],
optical_frame_id_[DEPTH]); optical_frame_id_[DEPTH]);
publishStaticTF(tf_timestamp, zero_trans, zero_rot, "camera_link", frame_id_[DEPTH]); publishStaticTF(tf_timestamp, zero_trans, zero_rot, "camera_link", frame_id_[DEPTH]);
extrinsics_publisher_->publish(obExtrinsicsToMsg(ex, frame_id_[COLOR])); extrinsics_publisher_->publish(obExtrinsicsToMsg(ex, "depth_to_color_extrinsics"));
} }
void OBCameraNode::publishStaticTransforms() { void OBCameraNode::publishStaticTransforms() {