Harcoded IMU frame and unpublished IMU TF

[arslogavitabrevis]

ROS Version: Humble

Actual behavior:
The imu optical frame does not include the "camera_name" parameter and it seam to include the default camera_name "camera". Also, the TF for the IMU frame is not published as we can see using tf2 view_frames.

Additional remark:
The IMU_OPTICAL_FRAME_ID is defined at the line 64 of the file base_realsense_node.h and used at the line 920 of base_realsense_node.cpp. It seam that contrary to the other frames ID defined at the beginning of base_realsense_node.h the IMU_OPTICAL_FRAME_ID does not take the sip parameter.

[MartyG-RealSense]

Hi @arslogavitabrevis It sounds as though your query may be similar to another issue from a few weeks ago at #2602

[arslogavitabrevis]

Hi @MartyG-RealSense , thank you for following up with me on this issue. I thinks as you this issue is similar to #2602 , but it has some differences. From my understanding here are those differences:

The #2602 is noting discordance between the Readme file and the the real behavior of the robot as the parameter "base_frame_id" is supposed to drive the odom frame from what is wroten in the readme, but in reality this is the "camera_parameter" that is used to build the odom frames.

This issue is about the "camera_name" parameter kept to default value specifically for the IMU_FRAME_ID and IMU_OPTICAL_FRAME_ID. From the code, it seem that this was not the intended behavior and it sound more like a bug that a enhancement as the #2602 was tagged.

Here is some line from the lines 61-65 "base_realsense_node.h" that I think may be related to the bug:

#define FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << STREAM_NAME(sip) << "_frame")).str()
#define IMU_FRAME_ID (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_imu_frame")).str()
#define IMU_OPTICAL_FRAME_ID (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_imu_optical_frame")).str()
#define OPTICAL_FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << STREAM_NAME(sip) << "_optical_frame")).str()
#define ALIGNED_DEPTH_TO_FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << "aligned_depth_to_" << STREAM_NAME(sip) << "_frame")).str()

We can see that the other frame definition have this "(sip)" parameter, but not the IMU_FRAME_ID and IMU_OPTICAL_FRAME_ID.

Here is the output of "ros2 topic echo /front_camera/imu"

header:
  stamp:
    sec: 1676469793
    nanosec: 484447232
  frame_id: camera_imu_optical_frame
orientation:
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0

Here is the output of "ros2 param get /front_camera/front_camera camera_name"
String value is: front_camera

(this may be in an other issue) Also, I noticed that the "{name}_imu optical_frame" is not published in the tf tree as we can see using tf2 tools.

[arslogavitabrevis]

See pull request #2627

[MartyG-RealSense]

Thanks very much @arslogavitabrevis for the PR! The RealSense ROS developer team member Niz-Az who is commenting on your PR will be the best person to direct questions about this issue to.

As you have created a PR, I have added an Enhancement label to this issue to indicate that it should be kept open whilst your PR is active.

[arslogavitabrevis]

It seem that the problem was already corrected in the source. I was previously doing my test with the binary version 4.51.1. Thank you for following with me on this issue.

[MartyG-RealSense]

You are very welcome, @arslogavitabrevis - thanks very much for the update!