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blodow / realtime_urdf_filter

ROS package that can filter geometry defined in URDF models from Kinect depth images. Can also preprocess data for the OpenNI tracker, to remove backgrounds, robots etc.
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Using this package in simulation environment #38

Open Yitian-Xian opened 2 years ago

Yitian-Xian commented 2 years ago

Hi all,

I am wondering if this package could be used in the simulation environment? Actually I have tried hard to do so, but I don't know how to set up a kinect V2 sensor with correct topics. Could anyone help me with this issue? Thanks a lot!!

Yitian-Xian commented 2 years ago

Hi all,

I have tried to build such environment containing both ur5 and kinect. But when I am running this package, something very strange just happened. The GUI just kept flashing and seemed very unstable. I am not sure why. Can anyone help me with this? Thanks. Screenshot from 2021-12-07 15-38-24

Screenshot from 2021-12-07 15-36-45

Screenshot from 2021-12-07 13-05-49

From the above pics you can see that sometimes the images are good but sometimes they are wrong. I do not know how to fix it...

Yitian-Xian commented 2 years ago

Hi, @blodow, can you help me with this? Thank you!!

Yitian-Xian commented 2 years ago

Hi all, I have figured out the problem. Maybe it is the synchronization problem of /tf. After I slow down the tf publishing rate, everything seems okay.

Yitian-Xian commented 2 years ago

I am afraid this solution might only works for around 10 seconds, and then the image would shake again. Can anyone offer any idea on the synchronization problem? I think that would be the reason. Thanks.

blodow commented 2 years ago

Hi! I am not sure I understand what the issue is. Could you maybe take a quick video that shows the problem? I'm not sure what exactly you mean by "flashing"..