add collar_line_odom node

[ompugao]

which depends on https://github.com/robofit/but_velodyne_lib

[martin-velas]

I have tried to build the package but this errors occurred: http://pastebin.com/YJ3YXQ4E - can you fix it, please?

I would also prefer if you move the code into separated package but_velodyne_odom (instead of putting into the existing package but_velodyne_proc) - would it be possible?

One last thing - would it be possible to include some simple test/demo? Smth linke demo.sh - in form of launch file, bash script or whatever you will find reasonable ...

Thanks!

[ompugao]

I have tried to build the package but this errors occurred: http://pastebin.com/YJ3YXQ4E - can you fix it, please?

please merge https://github.com/robofit/but_velodyne_lib/pull/9

[martin-velas]

yes - that helped! :)

[ompugao]

updated

[martin-velas]

Hi - thanks for update!

First of all - some formal notes: please, squash the commits into the single one (also the future commits). Also do not add pose.graph file into the repo. Thanks.

I have tried to run the launchfile like this: roslaunch but_velodyne_odom collar_line_odometry.launch and then (after the nodelet has been initialized) feed it with data: for f in 00000*.pcd; do rosrun pcl_ros pcd_to_pointcloud $f /cloud_pcd:=/velodyne_points; sleep 1; done but it failed with following output: http://pastebin.com/wZdWKMXv. You can download the PCD files from https://www.fit.vutbr.cz/~ivelas/files/kitti-sample/00000$x.pcd where x={0,1,2,3,4}.

Can you, please, take look at it? Am I doing smth wrong? Thanks!

[martin-velas]

FYI - I'm also attaching all available log files logs.zip (file manager-1.log mentioned in error output above does not actually exist)

[ompugao]

First of all - some formal notes: please, squash the commits into the single one (also the future commits). Also do not add pose.graph file into the repo. Thanks.

Done.

I have tried to run the launchfile like this: roslaunch but_velodyne_odom collar_line_odometry.launch and then (after the nodelet has been initialized) feed it with data: for f in 00000*.pcd; do rosrun pcl_ros pcd_to_pointcloud $f /cloud_pcd:=/velodyne_points; sleep 1; done but it failed with following output: http://pastebin.com/wZdWKMXv. You can download the PCD files from https://www.fit.vutbr.cz/~ivelas/files/kitti-sample/00000$x.pcd where x={0,1,2,3,4}.

it works on my machine. I cannot reproduce it. it seems that rosmaster gets messed up somehow. please attach gdb to nodelet manager and see what's going on on your end.

<launch>
    <node pkg="nodelet" type="nodelet" name="manager" args="manager" output="screen"
        launch-prefix="xterm -fn 12x24 -e gdb --args "
        />
    <node pkg="nodelet" type="nodelet" name="collar_line_odom_node" args="load but_velodyne_odom/CollarLineOdomNodelet manager">
        <remap from="~input/cloud" to="/velodyne_points"/>
        <remap from="~output/odom" to="/velodyen_odom"/>
        <param name="save_file" value="false"/>
    </node>
</launch>

thanks.

[martin-velas]

I just recompiled the library and the wrapper from scratch and everything starts to work fine ... like a charm ...

Anyway - thanks a lot for contribution and the updates of PR.

[ompugao]

;)