ROS 1 driver - aligned_depth_frame

Hello,
I am using the lastest release of the SDK the 0.7.2-ROS driver. I am trying to retrieve the xyz and rgb values from the depth/RGB image directly.

The rgbd pointcloud published looks fine. However, If I am to use the depth_proc_rgbd_cloud.launch, the color on the point cloud do not align. Is there something I am missing ?

Also, while the depth_aligned image get published by the node once the flag is set - I don’t see the frame the image is published in in the TF tree sc_depth_aligned_frame ?

Thanks for your help,

Clem

Hi there:

Tks for posting! First of all, when you were using depth_proc_rgbd_cloud.launch, did you run depth_image_proc package to check the rgbd cloud? Second, " while the depth_aligned image get published by the node once the flag is set - I don’t see the frame the image is published in in the TF tree sc_depth_aligned_frame ?" – I don’t get it clearly. Could you post some specific steps or instructions to explain it more?

Tks