/object_analytics/tracking topic is not published.

[MengNan-Li]

(1)roslaunch astra_launch astra.launch (2)roslaunch object_analytics_launch analytics_opencl_caffe.launch (3)roslaunch object_analytics_visualization rviz.launch /object_analytics/detection and /object_analytics/localization topic have data, but /object_analytics/tracking topic not has data. So, Rviz can't show correctly. What's the problem, How I can solve it. Thinks a lot.

[Peter9606]

@MengNan-Li Can you please also check if the other topics that object_analytics might publish are being published or not? /object_analytics/rgb /object_analytics/pointcloud /object_analytics/detection /object_analytics/segmentation /object_analytics/localization

[sharronliu]

The log shows socket connection issue. It looks the rviz trying to connect master "http://localhost:11311", and the slave respond "Unknown error initiating TCP/IP socket to Z7:35405 (http://Z7:40901/"

could you check your network configure if it's connectable?

[MengNan-Li]

@Peter9606 Yes, These topics are all published, just not /object_analytics/tracking topic

[MengNan-Li]

@sharronliu The network configure is correctly. The error you pointed due to I use "Ctrl + C" shutdown roslaunch.

object_analytics-visualization3d-1.log [rospy.client][INFO] 2018-04-27 15:04:47,036: init_node, name[/object_analytics/visualization3d], pid[5710] [xmlrpc][INFO] 2018-04-27 15:04:47,036: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2018-04-27 15:04:47,036: Started XML-RPC server [http://Z7:43855/] [rospy.impl.masterslave][INFO] 2018-04-27 15:04:47,036: _ready: http://Z7:43855/ [rospy.init][INFO] 2018-04-27 15:04:47,037: ROS Slave URI: [http://Z7:43855/] [rospy.registration][INFO] 2018-04-27 15:04:47,038: Registering with master node http://localhost:11311 [xmlrpc][INFO] 2018-04-27 15:04:47,038: xml rpc node: starting XML-RPC server [rospy.init][INFO] 2018-04-27 15:04:47,137: registered with master [rospy.rosout][INFO] 2018-04-27 15:04:47,137: initializing /rosout core topic [rospy.rosout][INFO] 2018-04-27 15:04:47,140: connected to core topic /rosout [rospy.simtime][INFO] 2018-04-27 15:04:47,141: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic [rospy.internal][INFO] 2018-04-27 15:04:47,204: topic[/object_analytics/detection] adding connection to [http://Z7:45635/], count 0 [rospy.internal][INFO] 2018-04-27 15:04:47,205: topic[/object_analytics/localization] adding connection to [http://Z7:45635/], count 0 [rospy.internal][INFO] 2018-04-27 15:04:47,206: topic[/object_analytics/tracking] adding connection to [http://Z7:45635/], count 0 [rospy.internal][INFO] 2018-04-27 15:04:47,350: topic[/rosout] adding connection to [/rosout], count 0 [rospy.internal][INFO] 2018-04-27 15:04:53,070: topic[/object_analytics/localization_rviz] adding connection to [/rviz], count 0

object_analytics-visualization2d-2.log [rospy.client][INFO] 2018-04-27 15:04:50,761: init_node, name[/object_analytics/visualization2d], pid[5711] [xmlrpc][INFO] 2018-04-27 15:04:50,762: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2018-04-27 15:04:50,762: Started XML-RPC server [http://Z7:39279/] [rospy.init][INFO] 2018-04-27 15:04:50,762: ROS Slave URI: [http://Z7:39279/] [rospy.impl.masterslave][INFO] 2018-04-27 15:04:50,763: _ready: http://Z7:39279/ [rospy.registration][INFO] 2018-04-27 15:04:50,764: Registering with master node http://localhost:11311 [xmlrpc][INFO] 2018-04-27 15:04:50,764: xml rpc node: starting XML-RPC server [rospy.init][INFO] 2018-04-27 15:04:50,863: registered with master [rospy.rosout][INFO] 2018-04-27 15:04:50,863: initializing /rosout core topic [rospy.rosout][INFO] 2018-04-27 15:04:50,869: connected to core topic /rosout [rospy.simtime][INFO] 2018-04-27 15:04:50,872: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic [rospy.internal][INFO] 2018-04-27 15:04:50,929: topic[/object_analytics/localization] adding connection to [http://Z7:45635/], count 0 [rospy.internal][INFO] 2018-04-27 15:04:50,932: topic[/object_analytics/rgb] adding connection to [http://Z7:45635/], count 0 [rospy.internal][INFO] 2018-04-27 15:04:50,933: topic[/object_analytics/tracking] adding connection to [http://Z7:45635/], count 0 [rospy.internal][INFO] 2018-04-27 15:04:50,933: topic[/object_analytics/detection] adding connection to [http://Z7:45635/], count 0 [rospy.internal][INFO] 2018-04-27 15:04:51,148: topic[/rosout] adding connection to [/rosout], count 0 [rospy.internal][INFO] 2018-04-27 15:04:53,273: topic[/object_analytics/tracking_rviz] adding connection to [/rviz], count 0

[Peter9606]

@MengNan-Li So if only "/object_analytics/tracking" is not published, you should still see the Point Cloud and 3D bounding box showing in RViz, right?

[MengNan-Li]

@Peter9606 I can see the Point Clound, but can't see the 3D bounding box showing in Rviz. I meet the same problem when I use RealSense D415.

[Peter9606]

Can you confirm with the content of /object_analytics/localization topic using "rostopic echo" command? See if there is something that can be localized in 3d.

[MengNan-Li]

There is nothing in "rostopic echo /object_analytics/localization"

roslaunch realsense_ros_camera rs_camera.launch [ INFO] [1526437222.215124294]: Initializing nodelet with 8 worker threads. [ INFO] [1526437223.012392265]: RealSense ROS v2.0.2 [ INFO] [1526437223.012470903]: Running with LibRealSense v2.11.0

[ INFO] [1526437223.275406134]: JSON file is not provided [ INFO] [1526437223.275422586]: ROS Node Namespace: camera [ INFO] [1526437223.275443880]: Device Name: Intel RealSense D415 [ INFO] [1526437223.275457975]: Device Serial No: 805212060130 [ INFO] [1526437223.275470603]: Device FW version: 05.08.15.00 [ INFO] [1526437223.275484042]: Device Product ID: 0AD3 [ INFO] [1526437223.275498241]: Enable PointCloud: Off [ INFO] [1526437223.275511072]: Align Depth: Off [ INFO] [1526437223.275525194]: Sync Mode: Off [ INFO] [1526437223.275580109]: Device Sensors: [ INFO] [1526437223.275608692]: Stereo Module was found. [ INFO] [1526437223.275623360]: RGB Camera was found. [ INFO] [1526437223.275662991]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1526437223.275677086]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1526437223.275688266]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1526437223.709646358]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1526437223.709909692]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1526437223.710160622]: infra2 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1526437223.713321932]: color stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1526437223.723334769]: RealSense Node Is Up!

roslaunch object_analytics_launch analytics_opencl_caffe.launch ........ I0516 10:20:37.300688 5819 net.cpp:266] This network produces output detection_out I0516 10:20:37.300709 5819 net.cpp:280] Network initialization done. I0516 10:20:37.300725 5819 net.cpp:281] Memory required for data: 86785584 [ INFO] [1526437240.549977903]: Load resources completely!

roslaunch object_analytics_visualization rviz.launch

/object_analytics/rgb : has messages /object_analytics/pointcloud : has messages /object_analytics/detection : has messages /object_analytics/segmentation : has messages /object_analytics/localization : has not content.

[Peter9606]

I guess you would see something if a person stands in front of camera two meters away. Could you please give a try?

[MengNan-Li]

@Peter9606 I just have a try for your suggestion, but still have nothing in /object_analytics/localization. The /object_analytics/detection topic show as follow: object: object_name: "sheep" probability: 1.0 roi: x_offset: 196 y_offset: 116 height: 0 width: 0 do_rectify: False No matter what in the front of the camera is human or object.

[Peter9606]

@MengNan-Li It's wired to have value 0 for both "height" and "width", and that's the reason why there's no output from /object-analytics/localization. I think you should submit a bug to ros_opencl_caffe project

[MengNan-Li]

@Peter9606 Thinks for your help. :)