multi cameras application

[donald2016]

Hi, I am trying to implement this node for multi-drones application. I have successfully implement this ROS node for single drone to find the drone coordination with respect to the aruco marker. I am trying to further implement this technique for more than one drone. I have copied the node and rename it into aruco_mapping1, aruco_mapping2 and etc. The nodes are working fine individually; however, when more than aruco_mapping node are running, the position estimation tried to access the same data location and gives wrong position estimation. If I run the node on a separate computer, they did not crash each other. I am wondering how can I duplicate this node for multiple cameras application on a single computer.

Thanks :)

[BRNKR]

How did you get it working? I am using kinetic and it crashes all the time.

[ INFO] [1492530752.026218808]: Calibration file path: /home/tobias/catkin_ws/src/aruco_mapping/data/geniusF100.ini [ INFO] [1492530752.026289510]: Number of markers: 10 [ INFO] [1492530752.026327454]: Marker Size: 0.2 [ INFO] [1492530752.026348370]: Type of space: plane [ INFO] [1492530752.026388816]: ROI allowed: 0 [ INFO] [1492530752.026407971]: ROI x-coor: 0 [ INFO] [1492530752.026424769]: ROI y-coor: 0 [ INFO] [1492530752.026441496]: ROI width: 0 [ INFO] [1492530752.026458780]: ROI height: -1001927151 [ INFO] [1492530752.035126514]: Calibration data loaded successfully 0=(831,411) (1087.99,411) (1088.02,668.016) (831,667.992) Txyz=0.343709 0.151389 0.235617 Rxyz=-1.42916 -1.35729 0.460941 [ INFO] [1492530752.254517718, 198.362000000]: First marker with ID: 0 detected [ WARN] [1492530752.255259472, 198.363000000]: TF to MSG: Quaternion Not Properly Normalized 0=(831,411) (1087.99,411) (1088.02,668.016) (831,667.992) Txyz=0.343766 0.151399 0.235309 Rxyz=-1.42999 -1.35717 0.460874 0=(831,411) (1088,411) (1088,668) (831,668) Txyz=0.341538 0.149472 0.230233 Rxyz=-1.44634 -1.30713 0.4466 0=(831,411) (1088.01,411) (1088.01,668.016) (831,667.992) Txyz=0.340933 0.149358 0.230372 Rxyz=-1.45102 -1.31025 0.437056 0=(831,411) (1088.02,411) (1087.99,668) (831,668) Txyz=0.341727 0.150978 0.238453 Rxyz=-1.41524 -1.37116 0.442001 0=(831,411) (1088.02,411) (1087.99,668) (831,668) Txyz=0.343394 0.151166 0.237032 Rxyz=-1.38549 -1.36814 0.452623 0=(831,411) (1087.99,411) (1088.02,668.016) (831,667.992) Txyz=0.34379 0.151404 0.235194 Rxyz=-1.43026 -1.35712 0.460861 0=(831,411.008) (1088.01,410.985) (1088.01,668.016) (831,667.992) Txyz=0.34111 0.149412 0.230942 Rxyz=-1.4479 -1.3152 0.436765 [aruco_mapping-1] process has died [pid 2001, exit code -11, cmd /home/tobias/catkin_ws/devel/lib/aruco_mapping/aruco_mapping /image_raw:=/camera/image_raw __name:=aruco_mapping __log:=/home/tobias/.ros/log/008f0712-244f-11e7-93d5-7cdd90b1121f/aruco_mapping-1.log]. log file: /home/tobias/.ros/log/008f0712-244f-11e7-93d5-7cdd90b1121f/aruco_mapping-1*.log

[donald2016]

[ INFO] [1492530752.026441496]: ROI width: 0 [ INFO] [1492530752.026458780]: ROI height: -1001927151

These two sentences showed that something wrong in your launch or calibration file. Make sure the width and height are correct dimension of your image source

[blutjens]

I am facing pretty much the same error message, as you have @TobiMiller. Did you get it to work on ros kinetic?

The issue mentioned by @donald2016 can be solved by editing the launchfile to say:

<param name="roi_w" type="int" value="640" />
<param name="roi_h" type="int" value="480" />

instead of

<param name="roi_width" type="int" value="640" /> -->
<param name="roi_height" type="int" value="480" /> --> 

However, this does not solve the problem of shutdown.