Skip to content

added camera info publish to the doImageUpdate method #384

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
wouter-heerwegh merged 2 commits into from
Sep 13, 2025
Merged

added camera info publish to the doImageUpdate method #384

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
f3ffa07
added camera info publish to the doImageUpdate method
melihakay Sep 12, 2025
0ab6b9d
fixed camera tf name inconsistency and camera tf orientation
melihakay Sep 12, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 13 additions & 1 deletion ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -764,8 +764,20 @@ void AirsimROSWrapper::append_static_camera_tf(const std::string& vehicle_name,
static_cam_tf_body_msg.transform.translation.x = camera_setting.position.x();
static_cam_tf_body_msg.transform.translation.y = camera_setting.position.y();
static_cam_tf_body_msg.transform.translation.z = camera_setting.position.z();

// Existing quaternion from camera settings
tf2::Quaternion quat;
quat.setRPY(math_common::deg2rad(camera_setting.rotation.roll), math_common::deg2rad(camera_setting.rotation.pitch), math_common::deg2rad(camera_setting.rotation.yaw));
quat.setRPY(math_common::deg2rad(camera_setting.rotation.roll),
math_common::deg2rad(camera_setting.rotation.pitch),
math_common::deg2rad(camera_setting.rotation.yaw));

// Rotation fix for ROS convention
tf2::Quaternion additional_rotation(-0.5, 0.5, -0.5, 0.5);

// Multiply the quaternions to apply the additional rotation
quat *= additional_rotation;

// Assign the result to the message
static_cam_tf_body_msg.transform.rotation.x = quat.x();
static_cam_tf_body_msg.transform.rotation.y = quat.y();
static_cam_tf_body_msg.transform.rotation.z = quat.z();
Expand Down
8 changes: 7 additions & 1 deletion ros2/src/fsds_ros2_bridge/src/fsds_ros2_bridge_camera.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,12 @@ void doImageUpdate()
0, 1, 0,
0, 0, 1};

info_msg->p = {fx, 0, cx, 0,
0, fy, cy, 0,
0, 0, 1.0, 0};

info_pub->publish(*info_msg);

fps_statistic.addCount();
}

Expand Down Expand Up @@ -174,7 +180,7 @@ int main(int argc, char ** argv)

// load settings
camera_name = nh->declare_parameter<std::string>("camera_name", "");
camera_frame_prefix = nh->declare_parameter<std::string>("camera_frame_prefix", "/fsds/camera");
camera_frame_prefix = nh->declare_parameter<std::string>("camera_frame_prefix", "/fsds/");
camera_frame_id = camera_frame_prefix + camera_name;

framerate = nh->declare_parameter<double>("framerate", 0.0);
Expand Down
Loading