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osrf / subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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Marble HD2 - two of three depth cameras not working #736

Closed knoedler closed 3 years ago

knoedler commented 3 years ago

The front_facing and front_down depth cameras on the Marble HD2 stopped working sometime between 2020_12_10 and 2020_12_23. In rviz the two depth topics currently show up as all black. Looking at the data in the topic it is a constant 0, 0, 128, 255 for every pixel.

If the two depth cameras (front_facing and front_down) are changed to the same resolution as the pan_tilt (640x480) all three cameras mostly work, but have an invalid line at the bottom (that looks like it should be at the top). After this change the cropped lines at the top of the pan_tilt are restored. see - #662

Image showing the extra line: front_facing_640

Steps to reproduce: ign launch -v 4 cave_circuit.ign worldName:=cave_circuit_practice_03 robotName1:=MHSC1 robotConfig1:=MARBLE_HD2_SENSOR_CONFIG_1 rviz - look at the /HDa/front_facing/depth - note that it is all black, the pan_tilt depth topic is correct other than the top cropping

I suspect the depth data or configuration is getting crossed up somewhere up the simulation pipeline. It seems to be causing the cropping in #662 , the lack of data on two of the cameras and the invalid line at the bottom.

knoedler commented 3 years ago

Sometime between 2021_01_06 and 2021_01_22 this issue resolved itself. It had been present both in cloudsim on amazon and locally. I couldn't track the original problem or the resolution to a particular change in subt or ignition by reading the commits. I did not try building all of the various packages at various dates to isolate.