Fix FrameView/FrameAligned Controller to track orientation of the frame#1653
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jowaibel wants to merge 1 commit intoros2:rollingfrom
Open
Fix FrameView/FrameAligned Controller to track orientation of the frame#1653jowaibel wants to merge 1 commit intoros2:rollingfrom
jowaibel wants to merge 1 commit intoros2:rollingfrom
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… via "inverted z axis"
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The backported camera in pull request #1453 did not implement the name-giving feature of the frame-aligned camera, to remain aligned with the frame as it rotates.
I have recovered this feature from the ROS1 implementation. Camera now rotates with the (moving) frame).
I have also fixed the "Invert Z Axis" feature for the frame-aligned view.
Fixes #1320
Is this user-facing behavior change?
The camera stays aligned with the active frame.
The "Invert Z Axis" property does technically not flip the Z axis, but always the vertical axis seen from the aligned camera view to the active axis. I.e.,
if +x/-x axis is selected, the z axis is flipped (rotation by 180deg about the x axis).
if +y/-y axis is selected, the z axis is flipped (rotation by 180deg about the y axis).
if +z/-z axis is selected, the x axis is flipped (rotation by 180deg about the z axis).
Did you use Generative AI?
No AI used.
Additional Information
Note that, on my ROS Humble, the "Invert Z Axis" property is shown in FPS View, even if it is hidden here. I don't know why.
I have therefore used the "show()" method in the child class FrameAligned/FrameView.