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[pr2_description] modify depth topic name of kinect_prosilica_camera #243

Closed aginika closed 8 years ago

aginika commented 8 years ago

With this modification, the below problem will be modified. a

The confusing of topic was, encoding: 32FC1 and encoding: mono8 so I change the mono8 topic to use namespace ir

aginika commented 8 years ago

But I'm not sure whether the namespace ir is good or not....

aginika commented 8 years ago

Any Idea?

TheDash commented 8 years ago

Sorry my friend for the delay.

I'm not sure of the repercussions of this. Is this a subjective matter or a technical one? I'm not that familiar of what code relies on the namespace in this situation.

k-okada commented 8 years ago

did real kinect sensor publishes mono8 on ir topic?

TheDash commented 8 years ago

I'm not sure. We're using the Kinect 2 now with the new PR2 upgrades.

furushchev commented 8 years ago

real kinect sensor publishes mono16, not mono8 nor 32FC1.

on gazebo/hydro there is no ir data published.

 🍣  rostopic list |grep head_mount_kinect
/head_mount_kinect/depth/camera_info
/head_mount_kinect/depth/image_raw
/head_mount_kinect/depth/image_raw/compressed
/head_mount_kinect/depth/image_raw/compressed/parameter_descriptions
/head_mount_kinect/depth/image_raw/compressed/parameter_updates
/head_mount_kinect/depth/image_raw/compressedDepth
/head_mount_kinect/depth/image_raw/compressedDepth/parameter_descriptions
/head_mount_kinect/depth/image_raw/compressedDepth/parameter_updates
/head_mount_kinect/depth/image_raw/theora
/head_mount_kinect/depth/image_raw/theora/parameter_descriptions
/head_mount_kinect/depth/image_raw/theora/parameter_updates
/head_mount_kinect/depth/points
/head_mount_kinect/depth_registered/camera_info
/head_mount_kinect/depth_registered/points
/head_mount_kinect/rgb/camera_info
/head_mount_kinect/rgb/image_raw
/head_mount_kinect/rgb/image_raw/compressed
/head_mount_kinect/rgb/image_raw/compressed/parameter_descriptions
/head_mount_kinect/rgb/image_raw/compressed/parameter_updates
/head_mount_kinect/rgb/image_raw/compressedDepth
/head_mount_kinect/rgb/image_raw/compressedDepth/parameter_descriptions
/head_mount_kinect/rgb/image_raw/compressedDepth/parameter_updates
/head_mount_kinect/rgb/image_raw/theora
/head_mount_kinect/rgb/image_raw/theora/parameter_descriptions
/head_mount_kinect/rgb/image_raw/theora/parameter_updates
/head_mount_kinect_ir/parameter_descriptions
/head_mount_kinect_ir/parameter_updates
/head_mount_kinect_rgb/parameter_descriptions
/head_mount_kinect_rgb/parameter_updates
aginika commented 8 years ago

hydro and indigo both has this problem.

And this happen because https://github.com/PR2/pr2_common/blob/indigo-devel/pr2_description/urdf/sensors/kinect_prosilica_camera.gazebo.xacro#L26-L28

and

https://github.com/PR2/pr2_common/blob/indigo-devel/pr2_description/urdf/sensors/kinect_prosilica_camera.gazebo.xacro#L72-L73

are same name

k-okada commented 8 years ago

can we change https://github.com/PR2/pr2_common/pull/243/files#diff-e67a644c36ecf8733fff38127fdba7c2L12 to publish mono16?

aginika commented 8 years ago

I think it can't set with currenct sdformat When I try to use L16, it shows the erro like below

Error [Camera.cc:715] Error parsing image format (L16), using default Ogre::PF_R8G8B8

http://sdformat.org/spec?ver=1.5&elem=sensor#image_format

k-okada commented 8 years ago

I, see, so I think this PR is ok, please merge @TheDash

◉ Kei Okada

On Mon, Dec 7, 2015 at 9:49 PM, aginika notifications@github.com wrote:

I think it can't set with currenct sdformat When I try to use L16, it shows the erro like below

Error [Camera.cc:715] Error parsing image format (L16), using default Ogre::PF_R8G8B8

http://sdformat.org/spec?ver=1.5&elem=sensor#image_format

— Reply to this email directly or view it on GitHub https://github.com/PR2/pr2_common/pull/243#issuecomment-162516223.

aginika commented 8 years ago

ping

furushchev commented 8 years ago

ping @TheDash

furushchev commented 8 years ago

ping @TheDash

TheDash commented 8 years ago

My apologies, I've been locked in a basement hacking initramfs for the Indigo server upgrade. This looks good. Thank you.

furushchev commented 8 years ago

@TheDash Thank you very much for merging! :+1: