rviz

[arpit15]

i am not able to use rviz with this package. Please can somebody provide a tutorial for visualizing the data from svo_ros package. i can't see any video as mentioned in the short tutorial given for running the package https://github.com/uzh-rpg/rpg_svo

[focs]

Usually you would have to load the svo_ros/rviz_config.rviz config file from rviz. If svo is running then you should see, among other things, the image "video".

To debug the problem you can use rostopic list/echo.

If this does not help, could you give some more information on what have you done and what exactly is not working as expected?

[arpit15]

i exactly followed this link https://github.com/uzh-rpg/rpg_svo after catkin_make i typed roslaunch svo_ros test_rig3.launch which i think loads this .rviz file you have suggested. I am using usb-cam and publishing image on topic camera/image which might have created the problem. this is the error i get when i typed the roslaunch command

[svo-1] process has died [pid 19662, exit code 127, cmd /home/arpit/catkin_ws/devel/lib/svo_ros/vo __name:=svo __log:=/home/arpit/.ros/log/ff86276e-efb4-11e3-af50-30f9edd21b9f/svo-1.log].
log file: /home/arpit/.ros/log/ff86276e-efb4-11e3-af50-30f9edd21b9f/svo-1*.log

I don't see any video after i play the rosbag using rosbag play airground_rig_s3_2013-03-18_21-38-48.bag as mentioned in the tutorial. Please guide me through steps to use the package with an usb-web cam publishing a image topic named camera/image

[focs]

First of all, to run this test you don't need a camera, it is rosbag (http://wiki.ros.org/rosbag). I tired to follow the steps mentioned steps in SVO to run the test and here everything works fine, no crash:

roslaunch svo_ros test_rig3.launch
rosbag play airground_rig_s3_2013-03-18_21-38-48.bag

Did everything compile fine? Once the test works you should use (and maybe copy and modifie) live.lauch and not the test.

[davll]

Well, The values of Window Geometry's X and Y in svo_ros/rviz_config.rviz are too high. It puts the rviz window outside the screen. Just changing the values can solve the problem.

[arpit15]

thanx to @davll it worked. however when i tried live.launch it is showing an error Traceback (most recent call last): File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/init.py", line 279, in main p.start() File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start self._start_infrastructure() File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 206, in _start_infrastructure self._load_config() File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 121, in _load_config self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default loader.load(f, config, verbose=verbose) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 698, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 670, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 605, in _recurse_load n = self._node_tag(tag, context.child(''), ros_config, default_machine, verbose=verbose) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(_args, _kwds) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 375, in _node_tag self._rosparam_tag(t, param_ns, ros_config, verbose=verbose) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(_args, _kwds) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 204, in _rosparam_tag cmd, ns, file, param, subst_value = self.opt_attrs(tag, context, (XmlLoader.ROSPARAM_OPT_ATTRS)) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 178, in opt_attrs return [self.resolve_args(tag_value(tag,a), context) for a in attrs] File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 159, in resolve_args return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 299, in resolve_args resolved = _resolve_args(resolved, context, resolve_anon, commands) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in _resolve_args resolved = commands[command](resolved, a, args, context) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 137, in _find return _find_executable(resolve_without_path, a, [args[0], path], context) File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 173, in _find_executable full_path = _get_executable_path(rp.get_path(args[0]), path) File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths) ResourceNotFound: rpg_calib

can you please provide an example of rpg_calib file. i am publishing image at /camera/image node. i want to use this image for visual odometry. therefore i made 2 changes 1) in live.launch in line5 i changed it to

2) in vo_node.cpp line158 i changed it to std::string cam_topic(vk::getParamstd::string("svo/cam_topic", "camera/image")); still i receive the above error. Please provide instructions for using this package for odometry using a webcam or a usb cam @focs i understood your suggestion i knew what was happening still i wrote everything for clarity sake. Thank you for your time. EDIT- I have calibrated my camera using PTAM package and I have been using that package for sometime now.

[cfo]

thanks for mentioning your issues so far. i will update the readme this week with more instructions. you can find example camera models in the folder svo_ros/params. note that it is crucial that you calibrate your own camera.

[zhujimson]

hello, dear Mr/Mrs, I have the same problem before, @davll and I chenged Window Geometry's X and Y, then I get no errors, but I also could not see anything until the Duration time count down. Please help me get through this. @cfo @focs @davll @eliasm

I did roslaunch the live.launch file, and rosrun rviz rviz, and play the airground_rig_s3_2013-03-18_21-38-48.bag