Problem with RTAM-Map and stereo camera
I have a PS5 HD stereo camera configured to stream frames in ROS 2, and I want to try running RTAB-Map for ROS 2 with it. I have properly calibrated and rectified both cameras.
Currently, I'm running into an issue: after operating for a while, a red background appears, and the image in the Odometry panel looks "doubled" (the left and right frames seem to overlap with vertical and angular shifts). Upon starting SLAM, key points are detected properly, and a few yellow points appear in the 3D map point cloud window.
I verified the image rectification, and it looks correct. The topics being passed to rtabmap_ros are also correct.
Here is the command I use to launch rtabmap_ros:
ros2 launch rtabmap_launch rtabmap.launch.py \
stereo:=true \
left_image_topic:=/left/image_rect \
right_image_topic:=/right/image_rect \
left_camera_info_topic:=/left/camera_info \
right_camera_info_topic:=/right/camera_info \
frame_id:=camera_link_optical \
approx_sync:=true \
rtabmap_viz:=true
I tried debugging the issue with Antigravity AI, which pointed out a transformation error in my ps5_stereo_processing.launch.py file.
I had:
Node(
package='tf2_ros',
executable='static_transform_publisher',
name='static_tf_pub',
arguments=['0', '0', '0', '0', '0', '0', 'map', 'camera_link_optical']
),
According to it, it should be:
Node(
package='tf2_ros',
executable='static_transform_publisher',
name='camera_to_optical_tf',
arguments=['0', '0', '0', '-1.5707963', '0', '-1.5707963', 'camera_link', 'camera_link_optical']
),
Here is the output from tf_monitor when I applied the fix above:
Was this advice from the AI valid? What else could be causing this issue?
