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srv / viso2

A ROS wrapper for libviso2, a library for visual odometry
http://ros.org/wiki/viso2
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Fixes for TF and remappings #10

Closed pavel-kirienko closed 11 years ago

pavel-kirienko commented 11 years ago

8: TF caching is implemented as proposed by Stephan.

9: The possibilities to remap a stereo namespace or image topics are gone because this functionality didn't work as expected. Instead, the rather standard concept of pushing down is recommended. Also please note that the new topic API is compatible with another VO engines.

stwirth commented 11 years ago

Thanks @pavel-kirienko for this pull request. You are right, the tf handling in viso2_ros is not very robust. The solution in fovis_ros is better but still not optimal. I would suggest to do a lookup once on startup using waitForTransform() with a large timeout as this is the most important one. In the callback I would call waitForTransform() with a smaller timeout and use a cached tf if this fails. I'll try this out now.

stwirth commented 11 years ago

I made some changes in the develop branch (see 68ec5469d67167f87db25ad88631cf6cbde6c9c2). If it works fine we'll merge to master.

pavel-kirienko commented 11 years ago

Works fine for me. Why not make timeout configurable?