transform for camera forward displays incorrrectly in RVIZ

[anfederman]

https://drive.google.com/file/d/13rZr6WvJyQTN6nPpjQd4De3GtmNIorb4/view?usp=share_link

This video show the issue in rviz.

You also can demonstrate by selecting camera forward in magni_bringup (default.yaml) and running:

roslaunch magni_gazebo fiducial_world.launch

When you do this you will find the fiducials projected beneath the floor in rviz.

In a real robot situation, left and right for marker positions are flipped from the real world.

I don't understand why the urdf and frame transforms aren't working correctly. This doesn't seem to be an issue for other extrinsic files.

[anfederman]

Apparently none of the extrinsics files are being parsed correctly on my magni_silver. No matter what I specify for the camera or lidar, the camera is in the forward xyz position with the rpy being ignored, the lidar is in top_plate(right), and won't relocate to top_plate_center.

This doesn't happen in magni_gazebo on my laptop.

This is on noetic_devel on a fresh download of magni_robot built on a Pi 3.

Can some one please test this on a Pi 3 and see if this is an isolated problem only I am encountering?

BTW the lidar is working, the camera is working, the robot drives with the logitech, and other then fiducials generating quaternion errors, no obvious errors or warnings.

[MoffKalast]

Can some one please test this on a Pi 3

Which museum do we get it from?

[anfederman]

Ha ha you should try some stand-up comedy.

…

On Thu, Feb 2, 2023, 12:15 PM MoffKalast ***@***.***> wrote: Can some one please test this on a Pi 3 Which museum do we get it from? — Reply to this email directly, view it on GitHub <#220 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABHZ377BBMKHKAJFRB6WU2LWVQIWDANCNFSM6AAAAAAT7RDWEY> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[anfederman]

source of issue was:

Skipping time sync steps due to configuration
Camera enabled with extrinsics: /home/ubuntu/catkin_ws/src/magni_robot/magni_description/extrinsics/camera_extrinsics_ahead.yaml
Lidar enabled with extrinsics:: /home/ubuntu/catkin_ws/src/magni_robot/magni_description/extrinsics/lidar_extrinsics_top_plate.yaml

for some reason the camera position being loaded was for ahead, not forward.

by editing the camera_estrinsics ahead to be correct for the actual camera pose on my robot, the problem was resolved.

I am still uncertain where the camera ahead load is being picked up, but I suspect it is in aruco.launch.

[anfederman]

Skipping time sync steps due to configuration
Camera enabled with extrinsics: /home/ubuntu/catkin_ws/src/magni_robot/magni_description/extrinsics/camera_extrinsics_ahead.yaml
Lidar enabled with extrinsics:: /home/ubuntu/catkin_ws/src/magni_robot/magni_description/extrinsics/lidar_extrinsics_top_plate.yaml

bye editing camera ahead, problem resolved. uncertain where this is being picked up, expect in aruco.launch