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rbrth / framework

Framework for eye-in-hand sensing and motion control.
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Using slam_bridge with LSD_SLAM #1

Open boonflies opened 8 years ago

boonflies commented 8 years ago

I am trying to use, slam_bridge to LSD_SLAM to get a pointcloud topic to be visualized in RViz. I am actually getting the images from a quadrotor camera and doing LSD_SLAM.

I tried downloading and building the package, https://github.com/rbrth/framework/tree/master/slam_bridge

But it seems to be dependent on the other package, 'image_acquisition' available here, https://github.com/rbrth/framework/tree/master/

When I build, the 'image_acquisition' seems to be missing files like 'HalconCpp.h'.

So, is the 'image_acquisition' package also needed along with 'slam_bridge' to get the pointcloud topic?

boonflies commented 8 years ago

Oh, I was able to build slam_bridge alone. But when I run the node as,

$ rosrun slam_bridge lsd_slam_pointcloud_publisher

I get the error, Could not call camera parameter service (SLAM Bridge)

what should I be doing?

rbrth commented 7 years ago

Dear Boonflies,

Sorry for the late reply. Although in a modular framework, the nodes are not fully meant to run on their own. There are some minor dependencies like message formats as you have noticed.

However, for your purpose, I can imagine that you take the main part of the source of the slam_bridge node that takes an images from a topic and produces a pointcloud.

I would suggest you create a new node and copy relevant code as commented in the slam_bridge and add you own image topic to it. That should work!

Best, Ruud