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douglasrizzo / dodo_detector_ros

Object detection from images/point cloud using ROS
BSD 3-Clause "New" or "Revised" License
54 stars 11 forks source link

Ready to detect! But not publishing anything #3

Closed christenbc closed 5 years ago

christenbc commented 5 years ago

I managed to get all the dependencies and then your package seems not to publish anything which is weird since everything is correctly set up without warnings or errors

IMG_20190404_195045 (1) IMG_20190404_195444 Any idea?

douglasrizzo commented 5 years ago

The remapping in your version of detect_kinect.launch looks wrong. You have to remap from the topics yout camera_floor publishes to the topics dodo_detector_ros subscribes to.

Something like this.

<remap from="/camera_floor/.../image_raw" to="/dodo_detector_ros/image_feed"/>
<remap from="/camera_floor/.../points" to="/dodo_detector_ros/pointcloud_feed"/>
christenbc commented 5 years ago

True, I already changed the order but still no output: IMG_20190404_224856

douglasrizzo commented 5 years ago

Can you confirm that, after the remap, data is being published to /dodo_detector_ros/image_feed and/or /dodo_detector_ros/pointcloud_feed? Seems to me like the package is just waiting to receive messages.

christenbc commented 5 years ago

I have a problem, after remapping a topic, the name of such topic appears while doing rostopic list but it looks empty of content although it is possible to see its type by doing rostopic info. What is causing this problem?

IMG_20190405_001708

christenbc commented 5 years ago

Actually your launch template is wrong. It is working well like this: IMG_20190405_001708 Thanks for the support :)

douglasrizzo commented 5 years ago

@chbloca what is the problem in my launch file? Is it the / before my topic names in the remapping?

It's like this:

<remap from="/camera/rgb/image_color" to="/dodo_detector_ros/image_feed"/>
<remap from="/camera/depth/points" to="/dodo_detector_ros/pointcloud_feed"/>

When it should be like this?

<remap from="/camera/rgb/image_color" to="dodo_detector_ros/image_feed"/>
<remap from="/camera/depth/points" to="dodo_detector_ros/pointcloud_feed"/>
douglasrizzo commented 5 years ago

I have tested my original launch files and they have worked properly.

In any case, you should check the new push to master, in which I have merged some work that was being done in the dev branch. Topics are now passed as parameters instead of remapped. Here is an example.

christenbc commented 5 years ago

All right, thanks for the information! But your dodo_detector_ros topics should adapt to the ones being streamed, that is that the variables in your source code should be remapped to the topics of the actual robot/camera

douglasrizzo commented 5 years ago

That's what I believe was accomplished in the newest commits, in which the topics are now passed as parameters by the user. I don't believe it's feasible for my package to "adapt" by itself, as it's not very straightforward to predict which topics the user would want my package to process. Maybe the user has two Kinect sensors, or one Kinect and one camera... you get the picture.