ObjectRecognitionKitchen interferes with MoveIt! rviz panel

asked 2013-12-06 11:37:05 -0500

lindzey gravatar image

updated 2014-11-22 17:05:35 -0500

ngrennan gravatar image

I am attempting to use MoveIt! and ObjectRecognitionKitchen together, but as soon as I start the object_recognition_core detection node, rviz becomes unusably slow (taking many seconds to respond to any GUI input). PR2 and computer are Ubuntu 12.04, running ROS Hydro.

This seems to be an interaction between the MotionPlanning rviz panel and ORK.

My setup:

(robot)$ roslaunch /etc/ros/robot.launch (modified to replace EKF with static transform publisher)

(robot)$ roslaunch openni.launch (slightly modified from the openni_launch package)

(desktop)$ roslaunch pr2_moveit_config move_group.launch

(desktop)$ roslaunch pr2_moveit_config moveit_rviz.launch

At this point, everything works; I can see the point clouds in rviz, and the panel is responsive.

However, as soon as I start ORK:

(robot)$ rosrun object_recognition_core detection -c `rospack find object_recognition_tabletop`/conf/detection.object.ros.ork

Rviz becomes unresponsive. If I remove the MotionPlanning panel, everything is fine again. I've tried running rviz on another computer, and had the same issues. Has anybody seen this before / have ideas of what I should try to figure this out?

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