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Turtlebot calibration: please point me at a wall

asked 2014-08-23 23:01:55 -0600

jxl gravatar image

updated 2014-08-24 00:06:22 -0600

ahendrix gravatar image

Hello, I'm ubuntu 12.04,hydro.I want to calibrate my turtlebot1 ,with the roslaunch turtlebot_calibration calibrate.launch ,it launch the 3dsensor.launch.

it turn out "Please point me at a wall, Still waiting for scan",

turtlebot@ubuntu:~$ roslaunch turtlebot_calibration  calibrate.launch
... logging to /home/turtlebot/.ros/log/b4bfc49a-2a99-11e4-a98b-8c705a305c04/roslaunch-ubuntu-11106.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.102:50748/

SUMMARY
========

PARAMETERS
 * /camera/depth_registered/rectify_depth/interpolation
 * /camera/depthimage_to_laserscan_loader/output_frame_id
 * /camera/depthimage_to_laserscan_loader/range_min
 * /camera/depthimage_to_laserscan_loader/scan_height
 * /camera/openni_camera_loader/depth_frame_id
 * /camera/openni_camera_loader/depth_mode
 * /camera/openni_camera_loader/depth_registration
 * /camera/openni_camera_loader/depth_time_offset
 * /camera/openni_camera_loader/image_mode
 * /camera/openni_camera_loader/image_time_offset
 * /camera/openni_camera_loader/rgb_frame_id
 * /rosdistro
 * /rosversion
 * /scan_to_angle/max_angle
 * /scan_to_angle/min_angle

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depthimage_to_laserscan_loader (nodelet/nodelet)
    openni_camera_loader (nodelet/nodelet)
    points_xyzrgb (nodelet/nodelet)
  /camera/depth_registered/
    rectify_depth (nodelet/nodelet)
  /
    scan_to_angle (turtlebot_calibration/scan_to_angle.py)
    turtlebot_calibration (turtlebot_calibration/calibrate.py)
  /camera/rgb/
    debayer (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [11124]
process[camera/openni_camera_loader-2]: started with pid [11125]
process[camera/rgb/debayer-3]: started with pid [11140]
process[camera/rgb/rectify_mono-4]: started with pid [11183]
process[camera/rgb/rectify_color-5]: started with pid [11198]
process[camera/depth_registered/rectify_depth-6]: started with pid [11213]
process[camera/points_xyzrgb-7]: started with pid [11236]
process[camera/depthimage_to_laserscan_loader-8]: started with pid [11267]
process[scan_to_angle-9]: started with pid [11297]
process[turtlebot_calibration-10]: started with pid [11301]
[INFO] [WallTime: 1408781227.540423] has_gyro True
[INFO] [WallTime: 1408781227.571398] Estimating imu drift
[INFO] [WallTime: 1408781227.872253] Still waiting for imu
[INFO] [WallTime: 1408781228.173761] Still waiting for scan
[INFO] [WallTime: 1408781228.475074] Still waiting for scan
[INFO] [WallTime: 1408781228.776642] Still waiting for scan
[INFO] [WallTime: 1408781229.077956] Still waiting for scan
[INFO] [WallTime: 1408781229.378650] Still waiting for scan
[INFO] [WallTime: 1408781229.679387] Still waiting for scan
[INFO] [WallTime: 1408781229.980169] Still waiting for scan
[INFO] [WallTime: 1408781230.280739] Still waiting for scan
[INFO] [WallTime: 1408781230.581467] Still waiting for scan
[INFO] [WallTime: 1408781230.882284] Still waiting for scan
[INFO] [WallTime: 1408781231.183741] Still waiting for scan
[ERROR] [WallTime: 1408781231.248262] Please point me at a wall.
[ERROR] [WallTime: 1408781231.278185] Please point me at a wall.
[ERROR] [WallTime: 1408781231.309676] Please point me at a wall.
[ERROR] [WallTime: 1408781231.341472] Please point me at a wall.
[ERROR] [WallTime: 1408781231.377709] Please point me at a wall.
[ERROR] [WallTime: 1408781231.406614] Please point me at a wall.
[ERROR] [WallTime: 1408781231.439964] Please point me at a wall.
[ERROR] [WallTime: 1408781231.477248] Please point me at a wall.
[INFO] [WallTime: 1408781231.484719] Still waiting for scan
[ERROR] [WallTime: 1408781231.516963] Please point me at a wall.
[ERROR] [WallTime: 1408781231.557522] Please point me at a wall.

just like link text,

when irun rviz rviz,i can see the rgb picture and ir data ,but can't see the depth data ,the laserscan data is all "nan",

header: 
  seq: 20754

  stamp: 
    secs: 1408785070
    nsecs: 317309946 ...
(more)
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in rviz i can see the rgb pictures and the ir pictures,but when set the image topic is /depth*,,there is nothing , does anyone successfuly calibrate your turtlebot1 on hydro ?

jxl gravatar imagejxl ( 2014-10-05 23:04:23 -0600 )edit

1 Answer

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answered 2014-10-08 08:57:16 -0600

jxl gravatar image

thanks turtlebot-calibration-file-and-access and turtlebot-calibration-erro,i solved my problem,just like

<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"> <arg name="depth_registration" value="false" /> </include>

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Asked: 2014-08-23 23:01:55 -0600

Seen: 258 times

Last updated: Oct 08 '14