converting one topic to another (front_cam/camera/image to sensor_msgs/image)

asked 2015-06-20 22:48:02 -0600

creative_cimmons
47 ●5 ●10 ●12

updated 2015-06-22 01:30:04 -0600

Miquel Massot

1471 ●7 ●17 ●33 http://srv.uib.es/

Hello,

I am thinking of incorporating visual odometry onto hector-quadrotor which currently uses LIDAR. There is a front cam functionality ( topics like:

/front_cam/camera/image
/front_cam/camera/image/compressed
/front_cam/camera/image/compressed/parameter_descriptions
/front_cam/camera/image/compressed/parameter_updates
/front_cam/camera/image/compressedDepth
/front_cam/camera/image/compressedDepth/parameter_descriptions
/front_cam/camera/image/compressedDepth/parameter_updates
/front_cam/camera/image/theora
/front_cam/camera/image/theora/parameter_descriptions
/front_cam/camera/image/theora/parameter_updates

while the visual odometry (viso2_ros subscribes to sensor_msgs/image).

Is it possible to covert from front_cam/camera/image to sensor_msgs/image . Tried to look up for /front_cam but couldn't find any documentation relating to that

Thanks

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answered 2015-06-20 23:09:05 -0600

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

updated 2015-06-24 02:26:19 -0600

Miquel Massot

1471 ●7 ●17 ●33 http://srv.uib.es/

According to the viso2_ros wiki page, the input topic name for the monocular node is image.

You can change the input topic name using remapping.

Try something like

rosrun viso2_ros mono_odometer image:=/front_cam/camera/image

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answered 2015-06-24 02:31:00 -0600

Miquel Massot

1471 ●7 ●17 ●33 http://srv.uib.es/

viso2 needs rectified images, so first you should calibrate your camera and run the node called image_proc. After that, you can subscribe viso2_ros mono_odometer to your rectified camera.

sensor_msgs/Image is the type of message, and /front_cam/camera/image is the topic of the message. Viso2 expects this same kind of message, but in the topic /image. That's why you have to remap it to your particular topic.

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converting one topic to another (front_cam/camera/image to sensor_msgs/image)

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