Turtlebot calibration: please point me at a wall
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 ...
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 ?