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CCNYRoboticsLab / ccny_rgbd_tools

ccny_rgbd_tools
GNU Lesser General Public License v3.0
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Install on Hydro #32

Open brotherxiang00 opened 10 years ago

brotherxiang00 commented 10 years ago

Hi guys, thank you for providing this package, but I would like to know can I run the package on hydro? I install it in a rosbuild workspace on hydro. It seems that does not work well. Could you please have a look at this link? http://answers.ros.org/question/145411/error-on-installing-ccny-package-on-hydro/. Many thanks.

LiliMeng commented 10 years ago

It shows no rosmake errors on my ROS hydro, but it displays nothing on Rviz

carlosgalvezp commented 10 years ago

Could you please write the commands you use to run the code? What's the console output?

LiliMeng commented 10 years ago

$roslaunch ccny_openni_launch openni.launch $roslaunch ccny_rgbd vo+mapping.launch $rosrun rviz rviz

SUMMARY

PARAMETERS

NODES / keyframe_mapper_node (ccny_rgbd/keyframe_mapper_node) visual_odometry_node (ccny_rgbd/visual_odometry_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[visual_odometry_node-1]: started with pid [7136] process[keyframe_mapper_node-2]: started with pid [7137] [ INFO] [1404853997.827807709]: Starting RGBD Visual Odometry [ INFO] [1404853997.838610311]: Creating GFT detector [ INFO] [1404853999.049867831]: Starting RGBD Keyframe Mapper

carlosgalvezp commented 10 years ago

The RGBD Processing node is not correctly grabbing the RGBD data from your camera. In my case I had to change in the code the name of the topics it subscribes to, but I'm sure there's a more elegant way of doing it using remap. I now subscribe to the following topics in the rgbd_image_proc node: /camera/rgb/image /camera/rgb/camera_info /camera/depth/image_raw /camera/depth/camera_info

When it works your console will constantly display information about the number of features detected from the GFT detector.

LiliMeng commented 10 years ago

Many thanks!

Could you please write the commands how you subscribe these topics?

carlosgalvezp commented 10 years ago

Well I don't use additional commands, I just changed these lines inside rgbd_image_proc.cpp (this is my final version):

subrgb.subscribe (rgb_imagetransport, "/camera/rgb/image", queuesize); subdepth.subscribe(depth_imagetransport, "/camera/depth/image_raw", queuesize); //16UC1 sub_rgbinfo.subscribe (nh_, "/camera/rgb/camera_info", queuesize); sub_depthinfo.subscribe(nh_, "/camera/depth/camera_info", queuesize);

First of all: does this command: $roslaunch ccny_openni_launch openni.launch work? Try only that, write here the topics that it generates, and try to see the RGB image for instance (using image_view)

LiliMeng commented 10 years ago

Many thanks! Finally it works!