Question about tf | problem with ar_pose reverse
Hi, I successfully run ar_pose with tracking a single marker option. I also tried to run option: tracking the camera position (reverse), everything looks good, but I don't get image...
My topics exists but rviz says something different.
Please check this screen: http://snag.gy/OhN45.jpg
rostopic seems to be ok:
przemek@przem:~/tum_simulator_ws/src/ar_tools/ar_pose/launch$ rostopic list
/ar_pose_marker
/camera/camera_info
/camera/image_color
/camera/image_color/compressed
/camera/image_color/compressed/parameter_descriptions
/camera/image_color/compressed/parameter_updates
/camera/image_color/compressedDepth
/camera/image_color/compressedDepth/parameter_descriptions
/camera/image_color/compressedDepth/parameter_updates
/camera/image_color/theora
/camera/image_color/theora/parameter_descriptions
/camera/image_color/theora/parameter_updates
/camera/image_mono
/camera/image_mono/compressed
/camera/image_mono/compressed/parameter_descriptions
/camera/image_mono/compressed/parameter_updates
/camera/image_mono/compressedDepth
/camera/image_mono/compressedDepth/parameter_descriptions
/camera/image_mono/compressedDepth/parameter_updates
/camera/image_mono/theora
/camera/image_mono/theora/parameter_descriptions
/camera/image_mono/theora/parameter_updates
/camera/image_proc_debayer/parameter_descriptions
/camera/image_proc_debayer/parameter_updates
/camera/image_proc_rectify_color/parameter_descriptions
/camera/image_proc_rectify_color/parameter_updates
/camera/image_proc_rectify_mono/parameter_descriptions
/camera/image_proc_rectify_mono/parameter_updates
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/camera/image_rect
/camera/image_rect/compressed
/camera/image_rect/compressed/parameter_descriptions
/camera/image_rect/compressed/parameter_updates
/camera/image_rect/compressedDepth
/camera/image_rect/compressedDepth/parameter_descriptions
/camera/image_rect/compressedDepth/parameter_updates
/camera/image_rect/theora
/camera/image_rect/theora/parameter_descriptions
/camera/image_rect/theora/parameter_updates
/camera/image_rect_color
/camera/image_rect_color/compressed
/camera/image_rect_color/compressed/parameter_descriptions
/camera/image_rect_color/compressed/parameter_updates
/camera/image_rect_color/compressedDepth
/camera/image_rect_color/compressedDepth/parameter_descriptions
/camera/image_rect_color/compressedDepth/parameter_updates
/camera/image_rect_color/theora
/camera/image_rect_color/theora/parameter_descriptions
/camera/image_rect_color/theora/parameter_updates
/clicked_point
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static
/visualization_marker
/visualization_marker_array
I get launch file from this repository
my launch looks:
<launch>
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find ar_pose)/launch/live_reverse.rviz"/>
<node pkg="tf" type="static_transform_publisher" name="world_to_marker"
args="0 1 1 -1.57 3.14 -1.57 world ar_marker 10" />
<node ns="camera" pkg="image_proc" type="image_proc" name="image_proc"/>
<node ns="camera" pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node"
output="screen">
<param name="width" type="int" value="320" />
<param name="height" type="int" value="240" />
<param name="fps" type="int" value="30" />
<param name="frame" type="string" value="camera" />
<param name="device" type="string" value="/dev/video0" />
<param name="camera_info_url" type="string"
value="file://$(find ar_pose)/camera_calibration_rev.yaml" />
</node>
<node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false" output="screen">
<param name="marker_pattern" type="string" value="data/4x4/4x4_19.patt"/>
<param name="marker_width" type="double" value="152.4"/>
<param name="marker_center_x" type="double" value="0.0"/>
<param name="marker_center_y" type="double" value="0.0"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/>
<param name="reverse_transform" type="bool" value="true"/>
</node>
</launch>
Where did I make a mistake? please help.
The camera image does not depend on ar_pose. Try running only the camera related nodes and see if it's solved.
When I use tracking a single marker option camera works excellent. http://snag.gy/WiqGT.jpg When I use reverse option something is broken. http://snag.gy/aHn1s.jpg
launch files compared: http://www.diffnow.com/?report=0c3yj