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turtlebot / turtlebot_apps

A group of simple demos and exmaples to run on your TurtleBot to help you get started with ROS and TurtleBot.
http://www.ros.org/wiki/turtlebot_apps
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DepthImage_to_LaserScan #20

Closed stonier closed 11 years ago

stonier commented 11 years ago

Replace pointcloud_to_laserscan with this. Should be much more lightweight.

i.e. no PCL.

The source

https://github.com/ros-perception/depthimage_to_laserscan

Chad Rockey is the guy to email with questions.

chadrockey@willowgarage.com

corot commented 11 years ago

I gave a try to DepthImage_to_LaserScan and works fine. But it isn't still a deb package, so we will wait a little bit

corot commented 11 years ago

Released as deb package. It's working but many times makes camera_nodelet_manager crash. I'll try how much performance we loss running it in a separated node.

chadrockey commented 11 years ago

What's the message when the nodelet manager crashes?

chadrockey commented 11 years ago

This pull requested launch file works for me under the latest groovy: https://github.com/turtlebot/turtlebot/pull/38

If that pull request is accepted, then the apps that used to launch pcl_to_laserscan or _pcl_to_laserscan should be updated.

chadrockey commented 11 years ago

I forgot to mention that I tested under the latest Groovy beta release on Ubuntu 12.04 64 bit.

What environment are you testing? I'll see if I can duplicate the issue.

corot commented 11 years ago

The new launch file is working fine. We are updating our apps to use it

corot commented 11 years ago

Check how good/bad it is.... sometimes turtlebot looks like blind

chadrockey commented 11 years ago

If it's missing obstacles, you should check the "scan_height" parameter. It defaults to 1 pixel which is a very narrow laser plane. The old behavior was probably equivalent to something like 10-20 pixels. It should be available through dynamic_reconfigure (once reconfigure_gui is working @zklapow).

CPU usage will be proportional to scan_height, since it controls how many pixels are merged into the final scan.

More information on the wiki page: http://www.ros.org/wiki/depthimage_to_laserscan

corot commented 11 years ago

Thank you very much for your help (and for this package!). Caught it. It's mostly intended for navigation, as the old good narrow scan, right? I'll keep around 10 pixels.