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spencer-project / spencer_people_tracking

Multi-modal ROS-based people detection and tracking framework for mobile robots developed within the context of the EU FP7 project SPENCER.
http://www.spencer.eu/
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Problem running tracking and visualization with a single RGB-D sensor #30

Closed dmkarage closed 7 years ago

dmkarage commented 7 years ago

Hi guys,

I compiled the spencer_people_tracking package (without HOG library) and I want to test the single RGB-D sensor tracking.I have an ASUS Pro sensor. When I launch the file I cannot see any point clouds in Rviz and the Upper Body and View Frustum displays are not valid showing "rgbd_front_top_rgb_optical_frame does not exist". Moreover in the terminal I get the following warning:

Failed to lookup transform from frame rgbd_front_top_rgb_optical_frame into target frame base_footprint! Dropping input DetectedPersons message on topic /spencer/perception_internal/detected_persons/rgbd_front_top/upper_body. Reason: "rgbd_front_top_rgb_optical_frame" passed to lookupTransform argument source_frame does not exist.

Could you help me to find out what I miss? Cause I think everything is ok with my sensor but somehow the frames of the sensor cannot be located.

Thank you in advance

tlind commented 7 years ago

Sorry for the late reply. I suggest running rosrun tf tf_monitor or rosrun tf view_frames to see which TF frames are being published at which intervals.

dmkarage commented 7 years ago

No worries, I solved the issue by setting "publish_tf" = true in my Openn2 launch file. However I have a problem with the messages not being built. I will open a new thread.

Thank you