Empty data using moving_least_square of pcl_ros

[mistimohan]

I am new to Ros and I did not know where to ask for my problem so I am mentioning it here : from the pcl_ros page, I found simple tutorials http://wiki.ros.org/pcl_ros/Tutorials on how to use nodelets and get filtered point cloud data, which I am visualizing in Rviz.Now when i am using the voxel_grid example,everything is working well as mentioned in the tutorial page http://wiki.ros.org/pcl_ros/Tutorials/VoxelGrid%20filtering .I am also able to change it to normal_estimation which is also working perfectly fine but as soon as i change the nodelet name to moving_least_square and add necessary parameters,the code runs successfully without any output data :

code:

use_polynomial_fit: True polynomial_order: 2 search_radius: 0.01 spatial_locator: 1

Terminal Launch Output :

started roslaunch server

SUMMARY

PARAMETERS

• /moving_least_squares/polynomial_order: 2
• /moving_least_squares/search_radius: 0.01
• /moving_least_squares/spatial_locator: 1
• /moving_least_squares/use_polynomial_fit: True
• /rosdistro: noetic
• /rosversion: 1.16.0

NODES / moving_least_squares (nodelet/nodelet) pcl_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[pcl_manager-1]: started with pid [506159] process[moving_least_squares-2]: started with pid [506160] [ INFO] [1683543729.235523468]: Loading nodelet /moving_least_squares of type pcl/MovingLeastSquares to manager pcl_manager with the following remappings: [ INFO] [1683543729.236303681]: /moving_least_squares/input -> /iiwa/points2 [ INFO] [1683543729.237529465]: waitForService: Service [/pcl_manager/load_nodelet] has not been advertised, waiting... [ INFO] [1683543729.245983706]: Initializing nodelet with 16 worker threads. [ INFO] [1683543729.258164755]: waitForService: Service [/pcl_manager/load_nodelet] is now available. [ WARN] [1683543729.335462770]: [config_callback] use_polynomial_fit is deprecated, use polynomial_order instead! Doubt to be Resolved : But when i echo in terminal "rostopic echo /moving_least_squares/normals " I get empty data why ?: is_dense: True

header: seq: 82439 stamp: secs: 1683543839 nsecs: 829107000 frame_id: "world" height: 1 width: 0 fields:

• name: "x" offset: 0 datatype: 7 count: 1

• name: "y" offset: 4 datatype: 7 count: 1

• name: "z" offset: 8 datatype: 7 count: 1

• name: "normal_x" offset: 16 datatype: 7 count: 1

• name: "normal_y" offset: 20 datatype: 7 count: 1

• name: "normal_z" offset: 24 datatype: 7 count: 1

• name: "curvature" offset: 32 datatype: 7 count: 1 is_bigendian: False point_step: 48 row_step: 0 data: [] is_dense: True I do not understand what is going wrong here.I have tried even : rosrun dynamic_reconfigure dynparam get /moving_least_squares {'use_polynomial_fit': True, 'spatial_locator': 1, 'polynomial_order': 2, 'search_radius': 0.01, 'gaussian_parameter': 0.02, 'groups': {'id': 0, 'parent': 0, 'name': 'Default', 'type': '', 'state': True, 'groups': {}, 'parameters': {}, 'spatial_locator': 1, 'search_radius': 0.01, 'use_polynomial_fit': True, 'polynomial_order': 2, 'gaussian_parameter': 0.02}} which also seems to be working fine .Everything is working properly but i am getting no data.There is no problem with point cloud as i have checked it successfully with normal estimation and voxel grid nodelets.

Thank You for your help in advance.

[SteveMacenski]

Please do not cross post. ROS Answers question https://answers.ros.org/question/415123/empty-data-using-moving_least_square-of-pcl_ros/

[mistimohan]

I thought the ros forum and percention_pcl team are independent of each other. Sorry for the inconvenience. Thank you for your information.