Switch to openni2_launch for cameras.

[cburbridge]

This might effect other components if they have not been released since the review. Notably metric maps @RaresAmbrus ?

[marc-hanheide]

Do we have a list of packages effected? From the review having maybe?

[cburbridge]

Charging works fine, as do metric maps... let's merge this?

[marc-hanheide]

we should make that merge soon, I suppose. Did you test people perception and V4R stuff? If that works as well I'm happy to merge it.

[cburbridge]

It works with V4R, @cdondrup please can you confirm that this does not break people perception?

[cdondrup]

I will test it again but it worked well during the review. Just have to change one of the default topic names.

[marc-hanheide]

I'm just extra cautious as I need the robot to be working for BBC breakfast on Monday ;-)

[marc-hanheide]

@cdondrup ready for merge?

[cdondrup]

Let me quickly test this on linda. Slipped my mind I have to admit.

[cdondrup]

A few minor things:

• openni2_launch has to be a run dependency
• Change depth image default topic in ppl perception to use /depth/image_rect
• The /rgb/image_rect_color (didn't check the others) has now encoding rgb8 instead of bgr8 which for me only results in the boxes around people being blue instead of red, but might hit others as a surprise, e.g. @lucasb-eyer?!

Long story short, for the people perception to work, I just need to change the default depth topic in the launch files once this is merge. So please go ahead after the other issues are resolved.

[lucasb-eyer]

Yeah, we started running with openni2 yesterday and no obvious problems so far. I also noticed the change in box-color and was wondering - good to know why!

The head-orientation node will probably become just slightly worse, but I'm close to completely replacing it anyways.

[cdondrup]

See https://github.com/strands-project/strands_perception_people/pull/174

[nilsbore]

I might have to change some topics in the logging, possibly switching from openni_wrapper to openni2_launch for re-creating the point clouds from the saved images.

[cdondrup]

Any updates on this?

[bfalacerda]

can we merge this, I just had some problems because of it not being in

[marc-hanheide]

I'm still unclear if all related changes have been done. But maybe now is a good time to enforce it...

[bfalacerda]

the new version (still unreleased) of strands_movebase needs openni2_launch. Not sure about all the other camera stuff

[nilsbore]

I'm all for merging this and clear up everything needed as we go along. As @bfalacerda said, strands_movebase kinda depends on this being merged.

@cburbridge Why is there a need for a separate openni2.launch file in this package?

[cburbridge]

It is so that we have machine tags compatible with the previous strands_cameras.launch.

[marc-hanheide]

So, good to merge?

[nilsbore]

We've been running it on Rosie (and it works), though I can't get the machine tags to work for some reason. I have the same problem with other launch files though.

[marc-hanheide]

so... I'm about to re-relases scitos_apps, also including this commit: https://github.com/strands-project/scitos_apps/commit/df7aea03f367933eb8171b8930cabce60349bc0a:

    ROS_INFO("subscribing to camera topics");
    image_transport::ImageTransport it(*nh);
    subim = it.subscribe("head_xtion/rgb/image_mono", 1, imageCallback);
-   subdepth = it.subscribe("head_xtion/depth/image_rect", 1, depthCallback);
+   subdepth = it.subscribe("head_xtion/depth/image_rect_raw", 1, depthCallback);
    subcamera = nh->subscribe("head_xtion/rgb/camera_info", 1,cameraInfoCallBack);

so, it will now also assume the new topic names. This needs to be addresses in the code, I suppose. I won't accep-t the re-release until somebody confirms I should...

[marc-hanheide]

This is the PR for re-releasing scitos_apps as requested by @cburbridge: https://github.com/strands-project/rosdistro/pull/579

[marc-hanheide]

Can @cburbridge, @cdondrup, @lucasb-eyer or @Pandoro, and @nilsbore comment, please? I really lost track what we did change and what not. And if I merge https://github.com/strands-project/rosdistro/pull/579 at least the topic for charging will have changed in the released version. I don't want create an unstable released system. So, please let me know where we stand on this.

[cdondrup]

I just tested the charging using the openni2 on Linda. By default it subscribes to:

/head_xtion/rgb/image_mono
/head_xtion/depth/image_rect
/head_xtion/rgb/camera_info

and works as intended. Hence, the commit should be removed.

[cburbridge]

I used this for a while and with the currently released docking code without problem, so agree this review-time commit "Fixing Chaos" should not be released.

[nilsbore]

We have also been using openni2_launch with the meta rooms and for chest navigation, works as intended. We have not been running docking though.

[marc-hanheide]

ok see https://github.com/strands-project/scitos_apps/pull/151 I will re-release once merged.

[ferdianjovan]

Can we merge this now?

[marc-hanheide]

Can people please comment on this to finally get round it, asking @gestom @Jailander @lucasb-eyer @Pandoro @nilsbore. Please confirm.

[lucasb-eyer]

We've been running with openni2 (not this specific PR) since my last comment, so from Aachen's side this should be fine.

[nilsbore]

I'm all for this! Need this for new chest cam navigation.

[marc-hanheide]

Right, and I want to things break now rather than later. So here we go.

[hawesie]

On 27 Jan 2016, at 15:45, Marc Hanheide notifications@github.com wrote:

Right, and I want to things break now rather than later. So here we go.

:)