[FIX] oak-d pro extrinsic calibration, frame tree

RMDLO · Feb 3, 2025 · 2e38090 · 2e38090
1 parent 7136a90
commit 2e38090
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diff --git a/abb_control/launch/abb_cameras.launch b/abb_control/launch/abb_cameras.launch
@@ -52,7 +52,7 @@
     </include>
     <!-- <node pkg="tf" type="static_transform_publisher" name="base_link_m_to_oak_rgb_camera_optical_frame_tf" args="-0.343573 0.50373 0.551695 -0.0456 0.9259 -0.3731 -0.0382 base_link_m oak_rgb_camera_optical_frame 10" /> -->
     <!-- <node pkg="tf" type="static_transform_publisher" name="oak_depth_to_color" args="-0.037 -0.001 0 0.006 -0.001 0.001 1.000 oak_right_camera_optical_frame oak_rgb_camera_optical_frame 10" /> -->
-    <node pkg="tf" type="static_transform_publisher" name="base_link_m_to_oak_frame_tf" args="-0.343573 0.50373 0.551695 -0.4142 -0.0206 0.1814 0.9474 base_link_m oak-d-base-frame 10" />
+    <node pkg="tf" type="static_transform_publisher" name="base_link_m_to_oak_frame_tf" args="-0.348229 0.482274 0.547362 -0.2564457865355233 -0.3150786323298423 0.686331990864345 -0.6032490466909314 base_link_m oak-d-base-frame 10" />
   </group>
 
 </launch>
diff --git a/docs/frames.pdf b/docs/frames.pdf