Isaac Sim ROS Camera Alignment + MoveIt

Omniverse Isaac Sim
1

Hi,

I’m trying to get the pointcloud coming out of IsaacSim to be properly placed in RVIZ. However, as you can see from the images they are misaligned.

Omniverse Isaac Sim:

image
image1920×1213 137 KB

RVIZ:

image
image2560×1440 340 KB

In both I am using the same Franka robot. In Isaac Sim I am specifically using the Franka object provided by the API, and in RVIZ I am launching the MoveIt 2 demo docker: moveit2_tutorials/doc/how_to_guides/isaac_panda/docker-compose.yaml at main · moveit/moveit2_tutorials · GitHub

How can I debug and fix this? It appears it needs to be rotated by 90degrees around Z (blue axis)

2

I ended up aligning it by adjusting the sim_camera transform in the MoveIt 2 tutorial source code (which doesn’t seem like the right step to me).

Afterwards I found that adjusting the aperture values can actually cause the view to rotate. I.e. I believe by setting the vertical aperture to less than 0 it seems to rotate by 90 degrees.