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ros-naoqi / nao_virtual

all tools to simulate nao robot
Apache License 2.0
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Robot's camera don't see robot parts #6

Closed mikaelarguedas closed 9 years ago

mikaelarguedas commented 9 years ago

The RGB cameras give a good rendering of the surrounding environment. But the robots parts seem to be invisible. When a robot part is in the field of view of the camera, it doesn't appear on the output image. (cf. attached screenshot) camerabuggazebo

vrabaud commented 9 years ago

yeah, I think that is somewhat normal: I just added optical frames and those are the ones you should use for your cameras and for the publishers. They are just rotated from the camera frames. Look at my recent commits: https://github.com/ros-naoqi/naoqi_bridge/commit/cfcb69e10777a1771df6aef9ea57305643ffe06f and before that: https://github.com/ros-naoqi/naoqi_bridge/commit/126d32a7513fa9b7e2a3124c6262a6ad262418b7 E.g., if you use the Camera plugin, it now works in RViz (with a real robot).

mikaelarguedas commented 9 years ago

I'll try that soon but I'm afraid the image won't have the right orientation anymore. I just updated my sources and it seems that urdf are corrupted since a recent update. robot state publisher is unable to publish tf. I'm not able to visualize the urdf in Rviz. I'll let you know (once this is fixed) if using the optical frames solve the problem.

mikaelarguedas commented 9 years ago

Ok I finally figured it out, it is a mater of distance and not a matter of frames. the robot is able to see his feet but not his arms. It's juste dependent on the paramters "near" and "far" given to the plugin. We would just have to tune them I guess. It was 30cm so regarding the size of NAO it was a huge dead zone.

vrabaud commented 9 years ago

I love it when a plan comes together.