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lagadic / vision_visp

ViSP stack for ROS
http://wiki.ros.org/vision_visp
GNU General Public License v2.0
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[head_camera] does not match name /camera/image_raw #77

Open Jeroenvdk94 opened 6 years ago

Jeroenvdk94 commented 6 years ago

I have the following launch file to use visp_auto_track with 2 cam's

    <launch>    
      <!-- Launch the tracking node  -->
      <node pkg="visp_auto_tracker" type="visp_auto_tracker" name="visp_auto_tracker" output="screen">
        <param name="model_path" value="$(find visp_auto_tracker)/models" />
        <param name="model_name" value="pattern" />
        <param name="debug_display" value="True" />
      </node>

    <!-- camera transforms -->
        <node pkg="tf" type="static_transform_publisher" 
            name="left_cam_tf" args="0 0 1.0 -1.570796 0 -1.570796 /map /left_camera 100"/>
        <node pkg="tf" type="static_transform_publisher" 
            name="right_cam_tf" args="0.0 -0.25 1.0 -1.570796 0 -1.570796 /map /right_camera 100"/>

     <!-- left cam-->
      <!-- Launch the usb camera acquisition node -->
    <group ns="left_cam">
      <node name="usb_cam_left" pkg="usb_cam" type="usb_cam_node"  output="screen">      
        <param name="image_width" value="640" />
        <param name="image_height" value="480" />
        <param name="video_device" value="/dev/video1" />      
        <param name="pixel_format" value="yuyv" />
        <param name="framerate" value="30" />
        <param name="camera_frame_id" value="left_camera" />
        <param name="camera_info_url" value="package://visp_auto_tracker/models/calibration_left.ini" type="string" />
      </node>
      <node pkg="visp_auto_tracker" type="visp_auto_tracker" name="visp_auto_tracker" output="screen">
        <param name="model_path" value="$(find visp_auto_tracker)/models" />
        <param name="model_name" value="pattern" />
        <param name="debug_display" value="True" />
        <remap from="/visp_auto_tracker/image_raw" to="/left_cam/usb_cam_left/image_raw"/>
            <param name="autosize" value="true" />
        <remap from="/visp_auto_tracker/camera_info" to="/left_cam/usb_cam_left/camera_info"/>
      </node>
     </group>

    <!-- Right cam-->
      <!-- Launch the usb camera acquisition node -->
    <group ns="right_cam">
      <node name="usb_cam_right" pkg="usb_cam" type="usb_cam_node"  output="screen">           
        <param name="image_width" value="640" />
        <param name="image_height" value="480" />
        <param name="video_device" value="/dev/video2" />      
        <param name="pixel_format" value="yuyv" />
        <param name="framerate" value="30" />
        <param name="camera_frame_id" value="right_camera" />
        <param name="camera_info_url" value="package://visp_auto_tracker/models/calibration_right.ini" type="string" />
      </node>
      <node pkg="visp_auto_tracker" type="visp_auto_tracker" name="visp_auto_tracker" output="screen">
        <param name="model_path" value="$(find visp_auto_tracker)/models" />
        <param name="model_name" value="pattern" />
        <param name="debug_display" value="True" />
        <remap from="/visp_auto_tracker/image_raw" to="/right_cam/usb_cam_right/image_raw"/>
            <param name="autosize" value="true" />
        <remap from="/visp_auto_tracker/camera_info" to="/right_cam/usb_cam_right/camera_info"/>
      </node>
    </group>

    <!-- Launch visualizer -->
        <node name="rviz_node" pkg="rviz" type="rviz" />

    </launch>

However, when I run this, I get the warnings:

  [ INFO] [1515587518.127209475]: camera calibration URL: package://visp_auto_tracker/models/calibration_right.ini
    [ WARN] [1515587518.127562984]: [head_camera] does not match name /camera/image_raw in file /home/jeroen/catkin_ws/src/vision_visp/visp_auto_tracker/models/calibration_right.ini
    [ INFO] [1515587518.127615190]: Starting 'head_camera' (/dev/video2) at 640x480 via mmap (yuyv) at 30 FPS
    [ INFO] [1515587518.217836910]: camera calibration URL: package://visp_auto_tracker/models/calibration_left.ini
    [ WARN] [1515587518.218137831]: [head_camera] does not match name /camera/image_raw in file /home/jeroen/catkin_ws/src/vision_visp/visp_auto_tracker/models/calibration_left.ini
    [ INFO] [1515587518.218179513]: Starting 'head_camera' (/dev/video1) at 640x480 via mmap (yuyv) at 30 FPS