DepthCloud from RGBD shows in incorrect orientation in RVIZ

[osrf-migration]

Original report (archived issue) by Hector Escobar (Bitbucket: hector_escobar).

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I just tried the x4 config 2 and when plotting the DepthCloud of the RGBD it shows facing up. The sensor information is correct but the display has a rotation error.

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[osrf-migration]

Original comment by Angela Maio (Bitbucket: Angela Maio).

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Probably the same issue as #184 (#184)

[gglaspell]

Is there a temporary work around for this? Can you simply rotate the pose in the SDF file? Or, can you assign a static transform to perform the rotation?

[angelacmaio]

The optical frame publisher is now available for all cameras. This is documented in the API wiki:

For 2D camera, Stereo camera, and RGBD camera sensors, the image and depth data are also available in optical frame (z forward, x right, y down) via topics with the /optical/ string in the topic name. More information on coordinate frame conventions can be found in REP 103.

The /optical/ topics should display in the correct orientation in RViz.

[nkoenig]

Closing since the optical frame solves this issue.