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A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Camera data visualization from Apollo cyber_visulaizer #1724

Open zyan1234 opened 3 years ago

zyan1234 commented 3 years ago

Hi,

I am trying to run SVL simulator along side with Apollo stack. The simulator and AD stack are run on different machines.

I have created a simulation with Lincoln2017MKZ vehicle, BorregasAve map, and with Apollo 5.0 sensor configuration. The Apollo 5.0 sensor configuration has main camera sensor in it. The simulator gets connected to Apollo stack with the Cyber Bridge on the specified IP of the Apollo machine. The bridge is functioning properly, data is getting flowed through cyber bridge to Apollo stack, dreamview is working properly, vehicle moves well on giving the destination.

But to visualize the data through cyber_visualizer I can visualize the point cloud data but not the camera data.

cyber_visualizer

I tried with both front_12mm and front_6mm, but no image is getting displayed Please let me know how can I visualize the camera data.

Thanks

EricBoiseLGSVL commented 3 years ago

are you using the full topic specified in the sensor? /apollo/sensor/camera/front_6mm/image/compressed What version of simulator and config are you using? 5.0 modular does not have a main camera sensor

zyan1234 commented 3 years ago

@EricBoiseLGSVL
Yes I am using the full topic specified in the sensor /apollo/sensor/camera/front_6mm/image/compressed The version of the simulator used is 2021.1 I again checked with the apollo 5.0 sensor configuration, it does have a main camera sensor Apollo 5 0 sensor configuration

I meant the camera sensor from here, let me know if this is incorrect I have added this sensor config to the vehicle and trying to visualize the camera data with topic /apollo/sensor/camera/front_6mm/image/compressed from cyber_visualizer

Help me to visualize camera data from cyber_visualizer

zyan1234 commented 2 years ago

Hi, Any idea how to visualize the camera images from cyber_visulaizer?

EricBoiseLGSVL commented 2 years ago

@lemketron @hadiTab do you know a way to visualize?