Wrong frame_id in /camera/camera/infra2/camera_info

[vinaym815]

| Camera Model D415
| ROS Distro Humble

Issue Description

The frame_id on topic /camera/camera/infra2/camera_info is wrongly published as
camera_infra1_optical_frame

[MartyG-RealSense]

Hi @vinaym815 In #1242 Doronhi the RealSense ROS1 wrapper creator discusses reasons for having the right camera frame_id for infra2 be equal to that of the left camera (infra1) as this was required by some ROS packages such as StereoCameraModel

[vinaym815]

Hello @MartyG-RealSense
If we launch the camera using
ros2 launch realsense2_camera rs_launch.py enable_infra1:=true enable_infra2:=true
and echo the topic
ros2 topic echo /camera/camera/infra2/camera_info
we get

header:
  stamp:
    sec: 1722328243
    nanosec: 768045898
  frame_id: camera_infra1_optical_frame
...

The frame id should be camera_infra2_optical_frame

[MartyG-RealSense]

I recall once seeing a line in the source code of the ROS wrapper that basically said infra2_optical_frame = infra1_optical_frame, hence why the infra1 value was displayed for infra2.

The following method was suggested to get the coordinate transform from right camera to left camera.

ros2 run tf tf_echo camera_infra2_optical_frame camera_infra1_optical_frame

[vinaym815]

I have a generalized checkerboard detector package which uses CameraInfo topic and Image topic to publish the relevant transform. Wrong frame_id requires making exception case and I want to avoid it.

Also when only enabling the infra2, the published frame_id is correct, i.e. 'camera_infra2_optical_frame'. So I think it is a small bug somewhere.
ros2 launch realsense2_camera rs_launch.py enable_infra1:=false enable_infra2:=true

[MartyG-RealSense]

I will discuss your question with my Intel RealSense colleagues on the ROS wrapper team. Thanks very much for your patience!

[MartyG-RealSense]

Hi @vinaym815 My Intel RealSense colleagues on the ROS wrapper team said that they would look at this issue. Thanks very much for your patience!