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lardemua / atom

Calibration tools for multi-sensor, multi-modal robotic systems
GNU General Public License v3.0
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Charuco not appearing on camera image #259

Closed danifpdra closed 3 years ago

danifpdra commented 3 years ago

Hi @miguelriemoliveira,

When using the command

roslaunch mmtbot_bringup sim.launch gui:=true

The charuco doesn't appear on the camera image. Am I doing something wrong?

image

miguelriemoliveira commented 3 years ago

OK, you should always write the command you are using ... I suspect it is the?

roslaunch mmtbot_bringup sim.launch gui:=false

danifpdra commented 3 years ago

gui:=true. I already edited the initial comment.

miguelriemoliveira commented 3 years ago

Ok, so what do you see in the gazebo frontend? Where is the pattern? Can you post a screenshot of gazebo?

danifpdra commented 3 years ago

The pattern does not appear in gazebo.

image

miguelriemoliveira commented 3 years ago

OK, what the code is doing is sending the pose of the pattern to the gazebo. Sometimes (I could not understand why) the communication between the rviz and the gazebo fails. The initial pose of the pattern in gazebo is under the ground, which is why you don't see it.

Try one of these:

  1. move the pattern around in rviz (using the pattern's interactive marker) and see if gazebo updates
  2. Just for testing, try to move the pattern in gazebo. Do you know how? Select the pattern from the tree on the left side, then select the manipulate object and move the pattern. If you want I can record a small video...
miguelriemoliveira commented 3 years ago

Just an additional comment: The charuco should appear only in the world camera, since the hand camera is pointing to the ground. After solving the first issue and seeing the charuco in the world camera, you must then move the manipulator (using moveit) to point the hand camera to the pattern.

danifpdra commented 3 years ago

The hand camera is not point to the ground:

image

I have already tried to move the pattern in rviz but it does not update in the gazebo. I can't move the pattern in gazebo because it is not there. I selected from the tree and it points to nothing.

miguelriemoliveira commented 3 years ago

The hand camera is not point to the ground:

Right, you moved the arm already. My bad.

About the gazebo, I will post a video in a moment.

miguelriemoliveira commented 3 years ago

One possibility is that your machine is not good enough. Can you post your specs? Also, what is the reported Real time factor in gazebo? Mine is 0.4 ...

danifpdra commented 3 years ago

Mine is 0.29

danifpdra commented 3 years ago

image

miguelriemoliveira commented 3 years ago

See if this helps https://youtu.be/L_e2gHEY4BM

miguelriemoliveira commented 3 years ago

About the computer ... it is a fantastic ... torradeira : -)

miguelriemoliveira commented 3 years ago

export GAZEBO_MODEL_PATH="rospack find mmtbot_gazebo/models:${GAZEBO_MODEL_PATH}"

miguelriemoliveira commented 3 years ago

This is working now, according to @danifpdra .