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rosjava image_transport example failing

asked 2011-05-23 18:11:56 -0500

Link gravatar image

updated 2011-05-27 17:48:57 -0500

I am planning to write a simple app to view the image my robot it will subscribe to the image via a wireless connection to my android phone (not a wifi tether). I started by running the image_transport example on my phone using the eclipse debugger. I run a bag file on my Ubuntu laptop which publishes the camera/image_raw message and am able to view on another ubuntu pc by setting the ROS_MASTER_URI, however I am unable to view this on my android device connected to the same network running the image_transport example.

The test is using the latest version of the image_transport found at https://rosjava.googlecode.com/hg/and... . I changed the following lines in the MainActivity.java example file:

  @SuppressWarnings("unchecked")
  @Override
  public void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.main);
    RosImageView<CompressedImage> image = (RosImageView<CompressedImage>) findViewById(R.id.image);
    image.setTopicName("/camera/image_raw");
    image.setMessageClass(org.ros.message.sensor_msgs.CompressedImage.class);
    image.setMessageToBitmapCallable(new BitmapFromCompressedImage());
    try {
      // TODO(damonkohler): The master needs to be set via some sort of
      // NodeConfiguration builder.
      nodeRunner.run(image,
          Lists.newArrayList("Compressed", "__ip:=192.168.1.100", "__master:=http://192.168.1.123:11311/"));
    } catch (Exception e) {
      throw new RuntimeException(e);
    }
  }

No errors are reported, and the app pops up on the phone, but no image is displayed. The image in the message (sensor_msgs/Image) is black and white and 320x260.

I filtered logcat for image_transport during one of the attempts:

I/ActivityManager( 173): Starting: Intent { act=android.intent.action.MAIN cat=[android.intent.category.LAUNCHER] flg=0x10200000 cmp=org.ros.tutorials.image_transport/.MainActivity } from pid 270 I/ActivityManager( 173): Displayed org.ros.tutorials.image_transport/.MainActivity: +289ms (total +1s717ms)

Is there anything that I could be doing wrong?

Tested on:

Motorola Droid OS: Android 2.3 (cyanogen mod 7.0.3)

HTC Incredible OS: Android 2.3 (cyanogen mod 7.0.3)

Laptops running ubuntu 10.4 and 10.10 with diamondback installed

:: UPDATE In a second attempt I changed the message to /camera/image_raw/compressed and the image still would not show up, which seem to be unrelated to the change to the message.

in logcat there is an error: the E/UpdatePublisherRunnable( 2697): java.lang.RuntimeException: java.net.UnknownHostException: ubuntu-laptop

roswtf shows that the imagetransport node created by the phone should be connected but isn't.

Are there any specific network settings that are needed? I added the laptop I was connecting to the host file of the android device.

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Comments

Do you see any errors on your Ubuntu system? What is the message type of your /camera/image_raw topic in the bagfile?
Eric Perko gravatar imageEric Perko ( 2011-05-23 22:55:45 -0500 )edit
And does anything show up in logcat?
kwc gravatar imagekwc ( 2011-05-24 05:11:16 -0500 )edit

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answered 2011-06-06 04:17:51 -0500

damonkohler gravatar image

I think you should try setting the ROS_IP environment variable on your laptop. It sounds like the phone is having trouble finding the laptop by hostname.

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answered 2011-05-24 19:06:55 -0500

Eric Perko gravatar image

updated 2011-05-24 19:07:25 -0500

I had a similar issue at first. The image_transport example does not automatically subscribe to the compressed image topic, as normal image_transport does.

Change the topic you are subscribing to to one that has a type sensor_msgs/CompressedImage such as /camera/image_raw/compressed and then it should work.

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Comments

In a second attempt I changed the message to /camera/image_raw/compressed and still had some problems viewing the image:
Link gravatar imageLink ( 2011-05-27 17:42:26 -0500 )edit

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Asked: 2011-05-23 18:11:56 -0500

Seen: 1,455 times

Last updated: Jun 06 '11