{"action":"created","issue":{"url":"https://api.github.com/repos/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/issues/4","repository_url":"https://api.github.com/repos/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d","labels_url":"https://api.github.com/repos/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/issues/4/labels{/name}","comments_url":"https://api.github.com/repos/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/issues/4/comments","events_url":"https://api.github.com/repos/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/issues/4/events","html_url":"https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/issues/4","id":390589564,"node_id":"MDU6SXNzdWUzOTA1ODk1NjQ=","number":4,"title":"I have a question to get the yolo_output TF value by realsense D435. ","user":{"login":"hyunoklee","id":26769964,"node_id":"MDQ6VXNlcjI2NzY5OTY0","avatar_url":"https://avatars2.githubusercontent.com/u/26769964?v=4","gravatar_id":"","url":"https://api.github.com/users/hyunoklee","html_url":"https://github.com/hyunoklee","followers_url":"https://api.github.com/users/hyunoklee/followers","following_url":"https://api.github.com/users/hyunoklee/following{/other_user}","gists_url":"https://api.github.com/users/hyunoklee/gists{/gist_id}","starred_url":"https://api.github.com/users/hyunoklee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hyunoklee/subscriptions","organizations_url":"https://api.github.com/users/hyunoklee/orgs","repos_url":"https://api.github.com/users/hyunoklee/repos","events_url":"https://api.github.com/users/hyunoklee/events{/privacy}","received_events_url":"https://api.github.com/users/hyunoklee/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-12-13T09:29:25Z","updated_at":"2018-12-13T10:37:24Z","closed_at":null,"author_association":"NONE","body":"hello. \r\nOver the past few months, I've been using your code very well on a Gazebo simulation base.\r\nThank you.\r\nAnd Recently I bought RealSense D435, But There is some problem.  \r\nI've been debugging for a few weeks and I can't solve the probolem.\r\nI would really appreciate it if you answered my question.\r\n\r\nMy Goal is to get the yolo_output TF value by realsense D435. \r\n\r\nI run below command  to get yolo_output TF value by RealSense D435. \r\n\r\nroslaunch turtlebot3_slam_3d turtlebot3_d435_bringup.launch\r\nroslaunch turtlebot3_slam_3d darknet.launch generate_point_cloud:=true use_zed:=false\r\nSo, I can not get yolo_output TF value. TF tree is below. \r\n\r\nI thought that yolo_output should come after camera_color_optical_frame , but I do not see it.\r\nbase_link->camera_link-> camera_aligned_depth_to_color_frame-> camera_color_optical_frame -> nothing \r\nhttps://github.com/hyunoklee/test/blob/master/frames_real.png?raw=true\r\n\r\nIs there anything I need to addition modify to get the yolo_output TF value by D435 ?\r\n\r\nShould I add the following command to turtlebot3_d435_bringup.launch ?\r\n  <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"tf_transform\"\r\n\targs=\"0 0 0 0 0 0 /camera_depth_frame /camera_color_frame 100\"/>\r\n\r\n\r\n\r\nAND At /.rosinstall file, Use the without_tf_publish version like below. \r\n\r\n///////   /.rosinstall  ////////////////////////////////////\r\nuri: https://github.com/Affonso-Gui/realsense.git\r\n    version: without_tf_publish\r\n\r\n\r\nUnlike Zed Mini, I would really appreciate it if you let me know why you should use without_tf_publish version at D435.\r\n\r\n\r\nActually I tried already all of the things mentioned above. But I can not get  yolo_output TF value by realsense D435. please help. \r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/issues/comments/446921427","html_url":"https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/issues/4#issuecomment-446921427","issue_url":"https://api.github.com/repos/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/issues/4","id":446921427,"node_id":"MDEyOklzc3VlQ29tbWVudDQ0NjkyMTQyNw==","user":{"login":"Affonso-Gui","id":20625381,"node_id":"MDQ6VXNlcjIwNjI1Mzgx","avatar_url":"https://avatars2.githubusercontent.com/u/20625381?v=4","gravatar_id":"","url":"https://api.github.com/users/Affonso-Gui","html_url":"https://github.com/Affonso-Gui","followers_url":"https://api.github.com/users/Affonso-Gui/followers","following_url":"https://api.github.com/users/Affonso-Gui/following{/other_user}","gists_url":"https://api.github.com/users/Affonso-Gui/gists{/gist_id}","starred_url":"https://api.github.com/users/Affonso-Gui/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Affonso-Gui/subscriptions","organizations_url":"https://api.github.com/users/Affonso-Gui/orgs","repos_url":"https://api.github.com/users/Affonso-Gui/repos","events_url":"https://api.github.com/users/Affonso-Gui/events{/privacy}","received_events_url":"https://api.github.com/users/Affonso-Gui/received_events","type":"User","site_admin":false},"created_at":"2018-12-13T10:37:24Z","updated_at":"2018-12-13T10:37:24Z","author_association":"COLLABORATOR","body":"Hello,\r\n\r\nThanks for your question. Since we are attending to an conference this week I cannot test this problem thoroughly right now, but will put my hands on it as soon as we come back.\r\n\r\nWhat I can say for now is:\r\n- Do not use `generate_point_cloud:=true` when connecting directly to the camera. This argument is only for point cloud reconstruction from bag files\r\n- If you are not using `rtabmap`, try removing these lines from darknet.launch: (we have no `map` frame)https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/blob/fab7dd6b72de7421a9f618d67c4acafe82aba5dc/launch/darknet.launch#L52-L55 \r\n- The reason why we use the `Affonso-Gui/realsense without_tf_publish` branch is because the tf from D435 was interfering with the one published by the turtlebot. For ZED, using `publish_tf:=false` was enough. I will, however, check if some updates in the origin branch make this obsolete.\r\n\r\nDebugging by steps:\r\n- There seems to be no problems with the tf frames you are showing\r\n- Can you see the camera color & depth images normally?\r\n- When launching darknet.launch, do you see a popup with live camera viewing and detected objects?\r\n- Can you subscribe `darknet_ros/label_image`?\r\n- Can you subscribe `cluster_decomposer/centroid_pose_array`?"}}
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