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Turtlebot 2 and ros-hydro-cmvision problem.

asked 2015-01-14 14:34:10 -0500

M. D. gravatar image

We just got in some Turtlebot 2 robots for our robotics class, having used the Turtlebot 1 platform for 3 years.

In our testing so far, we have only found one problem.

We're running Ubuntu 12.04.5 LTS, 3.13.0-32-generic, all updates applied, and added two ROS packages:

sudo apt-get install ros-hydro-cmvision fltk1.1-doc wx2.8-doc
sudo apt-get install ros-hydro-image-view

Our startup process (each in it's own terminal):

roscore
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_dashboard turtlebot_dashboard.launch

Then we launch the Kinect with:

roslaunch openni_launch openni.launch

If we then launch the image viewer:

rosrun image_view image_view image:=/camera/rgb/image_color

And cmvision:

rosrun cmvision colorgui image:=/camera/rgb/image_color

In the following print screen of the desktop, the image viewer comes up as expected (/camera/rgb/image_color on the right with the red rectangle). cmvision, however, has blue where the red is (Color Gui on the left).

CMVsion Example

Does anyone know what's going on there, or, more importantly, how to fix it?

Thanks.

M. D.

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answered 2015-01-15 16:44:02 -0500

I'm surprised this bug went unnoticed for this long. It looks like cmvision doesn't even bother checking the format of the image message, and just assumes it is RGB. I believe the Kinect publishes in BGR.

The offending lines: https://github.com/utexas-bwi/cmvisio... https://github.com/utexas-bwi/cmvisio...

The issue has been file here: https://github.com/utexas-bwi/cmvisio...

Since both color_gui and blob_finder suffer from the same bug, as long as you you use the same camera (aka image format) with both those nodes, it shouldn't matter if color_gui is displaying the colors incorrectly. Not pretty, but it should work until the issue is resolved.

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Asked: 2015-01-14 14:34:10 -0500

Seen: 301 times

Last updated: Jan 15 '15