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My guess is that you are not publishing the image topic with the name expected by ar_pose.

My guess is that you are not publishing the image topic with the name expected by ar_pose.

EDIT:

So, based on your question update, I can see some errors there. First, where did you get your code from? Your launch file is different from the one found at LucidOne repo.

In your launch you there is reference for a .vcg file to be loaded with Rviz, which is no longer used in Indigo (now they are .rviz files)

Also, you can see that you are creating a static transform between world and usb_cam, you have to verify if your frames are named like that.

Finally, you can see in rqt_graph that there is no topic going to ar_pose node. (deselect the checkboxes that say "hide" to show more information about the topics your nodes are expecting to receive, and republish the image)

My guess is that you are not publishing the image topic with the name expected by ar_pose.

EDIT:

So, based on your question update, I can see some errors there. First, where did you get your code from? Your launch file is different from the one found at LucidOne repo.

In your launch you there is reference for a .vcg file to be loaded with Rviz, which is no longer used in Indigo (now they are .rviz files)

Also, you can see that you are creating a static transform between world and usb_cam, you have to verify if your frames are named like that.

Finally, you can see in rqt_graph that there is no topic going to ar_pose node. (deselect the checkboxes that say "hide" to show more information about the topics your nodes are expecting to receive, and republish the image)

I also suggest you experiment also with ar_pose_single.launch