Isaac ROS Vslam Camera Rotation yields wrong Pose


on my robot I have a camera that is tilted down by 8 degrees. First I thought that the issue is on my side, but I was able to reproduce it in the VSLAM example in ISAAC SIM.

Here is what I did (by the way VLSAM works fine if i do not rotate the camera in SIM):

Do you have any idea whats going wrong? The Odometry should be plane on the map frame.

I already tried publishing camera_mount tf and setting ‘input_base_frame’: ‘camera_mount’. But this didn’t work.

Would be grateful for help.

We haven’t had a chance to look into this yet, but we’ll look evaluate soon. Nothing obvious from your description at least.

We are looking into this and will get back with a solution as soon as possible.