Open brotherxiang00 opened 10 years ago
It shows no rosmake errors on my ROS hydro, but it displays nothing on Rviz
Could you please write the commands you use to run the code? What's the console output?
$roslaunch ccny_openni_launch openni.launch $roslaunch ccny_rgbd vo+mapping.launch $rosrun rviz rviz
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
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.
Many thanks!
Could you please write the commands how you subscribe these topics?
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)
Many thanks! Finally it works!
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.