depth_image_proc sometimes fails to show remapped subscriptions in RQT and rostopic list -v

asked 2016-03-03 15:44:07 -0500

jeremya gravatar image
 <launch> 
  <!-- Nodelet manager for this pipeline -->
  <node pkg="nodelet" type="nodelet" args="manager"
    name="record_player_manager" output="screen"/>

 <!-- Convert it into a point cloud -->
 <node pkg="nodelet" type="nodelet" name="cloudify"
    args="load depth_image_proc/point_cloud_xyzrgb record_player_manager --no-bond">
   <remap from="depth_registered/image_rect" to="zed/stereo/depth/image_rect"/>
   <remap from="depth_registered/points" to="camera/depth_registered/points"/>
   <remap from="rgb/image_rect_color" to="zed/stereo/left/image_rect"/>
   <remap from="rgb/camera_info" to="zed/stereo/depth/camera_info"/>
 </node>
</launch>

I have the launch file (above) for the depth_image_proc nodelet. I'm trying to setup the subscriptions so that they match my publisher. Occasionally this launch file works but seemingly without any change it fails to link up the publishers and subscribers. I'm launching the publisher's launch file first and I can see that the data is being published viarostopic list -v or rviz. After I've verified it's up, I launch the file below and usually see something like this.

image description

On a rare occasion I see something like this (which is what I want). Notice the connections from the /zed/stereo/* topics to the record_player_manager node.

image description

I don't change the sourced environments between these runs. I am running RQT on a separate computer than the running nodes but rostopic list -v (run on the computer running the nodelet) also confirms that there are no subscriptions for the remapped topics for the nodelet in the launch file.

Any ideas?

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Comments

Have you gotten this issue fixed/figured out yet? I'd be interested in the answer!

Rodolfo8 gravatar imageRodolfo8 ( 2018-04-02 01:26:31 -0500 )edit

I am experiencing the same issue. And instead of just having the remapped topics not subscribed, I am having zero subscriptions. There is literally no subscriptions at all.

huangzonghao gravatar imagehuangzonghao ( 2018-08-03 13:36:46 -0500 )edit