No output from pcl/NodeletMUX
Hi,
I'm using following launch file, but there are no published messages from pcl/NodeletMUX, I have checked both input topics and they are publishing messages.
<launch>
<include file="$(find openni_launch)/launch/openni.launch"/>
<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
<!-- Run a passthrough filter to clean NaNs -->
<node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough pcl_manager" output="screen">
<remap from="/passthrough/input" to="/camera/depth/points" />
<rosparam>
filter_field_name: z
filter_limit_min: 1.3
filter_limit_max: 1.5
</rosparam>
</node>
<!-- Estimate point normals -->
<node pkg="nodelet" type="nodelet" name="normal_estimation" args="load pcl/NormalEstimation pcl_manager" output="screen">
<remap from="/normal_estimation/input" to="/passthrough/output" />
<rosparam>
# -[ Mandatory parameters
# Set either 'k_search' or 'radius_search'
k_search: 10
radius_search: 0
# Set the spatial locator. Possible values are: 0 (ANN), 1 (FLANN), 2 (organized)
spatial_locator: 0
</rosparam>
</node>
<!-- MUX the data onto one topic -->
<node pkg="nodelet" type="nodelet" name="data_mux_1" args="load pcl/NodeletMUX pcl_manager" output="screen">
<rosparam>
input_topics: [/passthrough/output, /normal_estimation/output]
</rosparam>
</node>
<!-- Concatenate fields -->
<node pkg="nodelet" type="nodelet" name="concatenate_data" args="load pcl/PointCloudConcatenateFieldsSynchronizer pcl_manager" output="screen">
<remap from="/concatenate_data/input" to="/data_mux_1/output" />
<rosparam>
# Number of messages to expect on the input topic
input_messages: 2
</rosparam>
</node>
</launch>
Asked by liborw on 2012-05-04 00:22:17 UTC
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