OpenNI launch - Githubissues

strands-project / strands_systems

all system configs

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OpenNI launch #113

Open cburbridge opened 8 years ago

cburbridge commented 8 years ago

The current configuration in strands_bringup/strands_cameras.launch uses openni_wrapper. During the review we switched to using the openni2_launch file, stating each camera like:

roslaunch openni2_launch openni2.launch camera:=chest_xtion depth_registration:=false publish_tf:=false debayer_processing:=true on karl
roslaunch openni2_launch openni2.launch camera:=head_xtion depth_registration:=true publish_tf:=false debayer_processing:=true on bruxelles.

This caused a few minor issues :-) but I am sure we got them all fixed. What were the issues, and is everything that was changed committed? Can we change the bringup to use openni2_launch?

cdondrup commented 8 years ago

For people perception, I just have to change one topic name. Happy to do that once we made the switch.

RaresAmbrus commented 8 years ago

Same for the metric mapping; finding the correct topic was a bit problematic ;) I think there were some docking related issues, but maybe also solved by changing the topic.

cburbridge commented 8 years ago

I don't know machine tags very well, is there any way to include openni2.launch inside strands_camera.launch without having to cascade machine tags down throughout a copy of openni2_launch package? If not it gets a bit messy... do we really want to do that?

cdondrup commented 8 years ago

Easy:

<machine name="$(arg machine)" address="$(arg machine)" env-loader="$(optenv ROS_ENV_LOADER )" user="$(arg user)" default="true"/>

The deafult="true" tells the launch server that every node after the machine tag is to be started on this machine if it does not specify a different machine explicitly. Just creating a wrapper launch file for openni_launch with a machinetag and default set to true should do the trick. The you can give it different machine tags in the strands_camera.launch when including the wrapper launch files.

cburbridge commented 8 years ago

I am having problems with machine tags. I changed to openni2_launch in the way @cdondrup suggested: https://github.com/cburbridge/strands_systems/blob/indigo-devel/strands_bringup/launch/strands_cameras.launch. But when I launch it from Bob it always starts a new master for the head camera on BobL. What should ROS_ENV_LOADER be?

cburbridge commented 8 years ago

The problem was that the master was set to localhost on bob, and bob on bobl, but of course it has to be bob on both for the correct one to be used when launching remotely without sourcing the remote .bashrc.