Closed zachkendrick closed 7 years ago
I found the correct aruco_mapping files that contain the correct publisher here:
I think the link to the aruco_mapping in the README is incorrect... let me know if I am right or wrong.
@zachkendrick the dependencies are available in the lidar_camera_calibration/dependencies
folder. The readme mentions that aruco_mapping
has been modified slightly and publishes the lidar_camera_calibration_rt
topic. You will find more information in the Setup
section in the readme.
I checked the velodyne points timestamps and camera timestamps, but the approximate time synchronizer's callback is never called. I am assuming this is related to this issue. When I run rostopic list, I don't see any lidar_camera_calibration_rt
topic.
[UPDATE]: Have since created a short script to see if the topics can be synchronized (subscribe to the same topics using python's ApproximateTimeSync), and the messages can be synced... despite this, I can't get the ApproximateTimeSync callback to be called via aruco_mapping. Any other hypotheses for this issue...?
@villanuevab Are you checking the timestamps of the lidar_camera_calibration::marker_6dof msgs and the velodyne's PointCloud2 messages? They should approximately match.
The marker_6dof msgs are published by dependencies/aruco_mapping on the lidar_camera_calibration_rt
topic.
@villanuevab Hi, How did you deal with "ApproximateTimeSync callback can't be call" this problem? I met the same problem. Hope for reply.
I think I have found the reason why it is hanging but I don't know how to fix it. The callback function in find_velodyne_points.cpp subscribes to the topic "lidar_camera_calibration_rt" but this topic has no publisher when I do
$ rostopic info /lidar_camera_calibration_rt
. I am assuming the topic/aruco_poses
should publish to it but that topic is currently publishing a completely different type (aruco_mapping/ArucoMarker). Any thoughts?