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WPI-Humanoid-Robotics-Lab / tough

Transportable Opensource UI for Generic Humanoids
MIT License
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MultisenseImage disparity subscriber has wrong message type #24

Closed dpwivagg closed 5 years ago

dpwivagg commented 5 years ago

When calling giveDisparityImage(disp) as in test_organizedRGBD.cpp, the error below occurs. It is clear in MultisenseImage.cpp that loadDisparityImageStereoMsgs() should be used for getting disparity in the simulation, but there is no way to toggle this callback instead of the default, loadDisparityImageSensorMsgs(). Simply swapping out the callback causes a build error.

[ERROR] [1555269995.461649677, 1419.920000000]: Client [/atlas_object_sorting_perception] wants topic /multisense/camera/disparity to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [stereo_msgs/DisparityImage/04a177815f75271039fa21f16acad8c9]. Dropping connection.
ninja777 commented 5 years ago

This is fixed in rbe-595 branch which is used for the humanoid robotics course. Gazebo uses different type of messages, hence the error.

Note: all the methods with give names are replaced by get names. please modify your code accordingly. The test example here can be referred for usage with gazebo.