Cannot find Kinect2_rgb_optical frame

Question

Cannot find Kinect2_rgb_optical frame

Closed this issue 5 years ago · 8 comments

Answer 1 · 2019-04-03T11:13:54.000Z

[ERROR] [1554290012.244204703]: Unable to get pose from TF: canTransform: source_frame kinect2_rgb_optical_frame does not exist.. canTransform returned after 0.502939 timeout was 0.5.
[ERROR] [1554290012.757058040]: Unable to get pose from TF: canTransform: source_frame kinect2_rgb_optical_frame does not exist.. canTransform returned after 0.504677 timeout was 0.5.
[ERROR] [1554290013.268903816]: Unable to get pose from TF: canTransform: source_frame kinect2_rgb_optical_frame does not exist.. canTransform returned after 0.503324 timeout was 0.5.

Answer 2 · 2019-04-03T11:14:04.000Z

<arg name="markerId"        default="582"/>
<arg name="markerSize"      default="0.034"/>    <!-- in m -->
<arg name="eye"             default="left"/>
<arg name="marker_frame"    default="aruco_marker_frame"/>
<arg name="ref_frame"       default=""/>  <!-- leave empty and the pose will be published wrt param parent_name -->
<arg name="corner_refinement" default="LINES" /> <!-- NONE, HARRIS, LINES, SUBPIX -->
 <!-- start the Kinect -->
<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch" >
    <arg name="depth_device" value="0" />
</include>


<node pkg="aruco_ros" type="single" name="aruco_single">
    <remap from="/camera_info" to="/kinect2/qhd/camera_info" />
    <remap from="/image" to="/kinect2/qhd/image_color" />
    <param name="image_is_rectified" value="True"/>
    <param name="marker_size"        value="0.143"/>
    <param name="marker_id"          value="26"/>
    <param name="reference_frame"    value="kinect2_link"/>   <!-- frame in which the marker pose will be refered -->
    <param name="camera_frame"       value="kinect2_rgb_optical_frame"/>
    <param name="marker_frame"       value="camera_marker" />
    <param name="corner_refinement"  value="$(arg corner_refinement)" />
</node>

Answer 3 · 2019-04-03T11:14:20.000Z

This is my launch file

Answer 4 · 2019-04-03T11:14:57.000Z

The Marker is detected properly. I am not able to see my kinect2_optical_frame

Answer 5 · 2019-04-03T11:15:31.000Z

This will affect my calibration results

Answer 6 · 2019-06-24T12:00:15.000Z

Did you find a solution to this problem? I also getting the same problem:

[ERROR] [1561377304.973332415]: Unable to get pose from TF: canTransform: source_frame kinect2_rgb_optical_frame does not exist.. canTransform returned after 0.502502 timeout was 0.5.
[ERROR] [1561377305.506447283]: Unable to get pose from TF: canTransform: source_frame kinect2_rgb_optical_frame does not exist.. canTransform returned after 0.503137 timeout was 0.5.
[ERROR] [1561377306.033191667]: Unable to get pose from TF: canTransform: source_frame kinect2_rgb_optical_frame does not exist.. canTransform returned after 0.500643 timeout was 0.5.

Answer 7 · 2019-06-24T12:04:36.000Z

<param name="reference_frame"    value="kinect2_rgb_optical_frame"/>   <!-- frame in which the marker pose will be refered -->
<param name="camera_frame"       value="kinect2_rgb_optical_frame"/>

This should be the parameter...And Open rqt_image_view and choosr topic aruco_ros/result....If you do this you will get the frame.

Answer 8 · 2019-06-24T12:48:37.000Z

Thank you very much, it work I'm not getting any ERRORs anymore 👍