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Field-Robotics-Lab / nps_uw_multibeam_sonar

Multibeam sonar plugin with NVIDIA Cuda library
Apache License 2.0
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/image_view_sonar/output always publishes black images... #40

Closed estellearrc closed 2 years ago

estellearrc commented 2 years ago

Hi, Whatever launch file I use, whatever sonar model I use, I always obtain full black images on the /image_view_sonar/output topic. Nevertheless, the /blueview_p900_point_cloud and /blueview_p900_point_cloud_normal_image topics work perfectly. Do you have any idea where does the problem lie? Is it due to OpenCV version? Or Velodyne laser plugin properties? Thanks in advance

zym19981209 commented 2 years ago

I have the same problem. I always obtain full black images on the /blueview_p900/sonar_image topic. When I use “rostopic echo /blueview_p900/sonar_image_raw”, the returned intensity data is all zero. How can we solve it ?

woensug-choi commented 2 years ago

Sorry for what's happened! Can you explain how you ran it? Which environment and which commands?

estellearrc commented 2 years ago

I'm on Ubuntu 20.04 LTS with ROS1 Noetic, CUDA 11.1, Cmake 3.16.3.

I use the following command: roslaunch nps_uw_multibeam_sonar sonar_tank_blueview_p900_nps_multibeam.launch and rostopic echo /blueview_p900/sonar_image.

woensug-choi commented 2 years ago

Investigating.... may I close this as it is similar issue with https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar/issues/42?

estellearrc commented 2 years ago

Yes absolutely!