editing launch file mono_demo.launch

asked 2016-04-21 01:17:30 -0600

wendyZzzz gravatar image

updated 2016-04-21 04:11:14 -0600

gvdhoorn gravatar image

i am trying to run the mono odometer from the viso2 package ( https://github.com/srv/viso2/blob/gro... )

i would to know how do i changed the bagfiles from stereo to mono

<?xml version="1.0"?>
<launch>

    <param name="/use_sim_time" value="true"/>
        <node ns="/" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" clear_params="true" output="screen">

    <!-- Run the ROS package stereo_image_proc -->

        <node pkg="image_proc" type="image_proc" name="image_proc"/>
                <remap from="image_raw" to="/stereo_forward/right/image_raw" />
                <remap from="camera_info" to="/stereo_forward/right/camera_info" />


                <param name="queue_size" value="200000" />
                <param name="disparity_range" value="64" />



    <!-- Run the viso2_ros package -->
    <node pkg="viso2_ros" type="mono_odometer" name="mono_odometer" output="screen">


        <!-- Matcher params -->
        <param name="nms_n" value="3" />
        <param name="nms_tau" value="50" />
        <param name="match_binsize" value="50" />
        <param name="match_radius" value="200" />
        <param name="match_disp_tolerance" value="2" />
        <param name="outlier_disp_tolerance" value="5" />
        <param name="outlier_flow_tolerance" value="5" />
        <param name="multi_stage" value="1" />
        <param name="half_resolution" value="1" />
        <param name="refinement" value="1" />

        <!-- Bucketing params -->
        <param name="max_features" value="2" />
        <param name="bucket_width" value="50" />
        <param name="bucket_height" value="50" />

        <!-- Mono params -->
        <param name="camera_height" value="1.0" />
        <param name="camera_pitch" value="0.0" />
        <param name="ransac_iters" value="2000" />
        <param name="inlier_threshold" value="1e-5" />
        <param name="motion_threshold" value="100" />
    </node>

<node pkg="tf" type="static_transform_publisher" name="bla" args="0.0 0.0 0.0 0.0 0.0 -1.571  /base_link /stereo_forward_optical 50">
  </node>

</launch>

After running

~/catkin_ws/src/viso2-indigo/viso2_ros/launch$ roslaunch viso2_ros mono1.launch 


vc3@vc3-M4HM87P-00:~/catkin_ws/src/viso2-indigo/viso2_ros/launch$ roslaunch viso2_ros mono1.launch 
... logging to /home/vc3/.ros/log/a796c9d2-0763-11e6-b787-dc85deffe141/roslaunch-vc3-M4HM87P-00-16009.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://vc3-M4HM87P-00:36128/

SUMMARY
========

PARAMETERS
 * /disparity_range: 64
 * /mono_odometer/bucket_height: 50
 * /mono_odometer/bucket_width: 50
 * /mono_odometer/camera_height: 1.0
 * /mono_odometer/camera_pitch: 0.0
 * /mono_odometer/half_resolution: 1
 * /mono_odometer/inlier_threshold: 1e-5
 * /mono_odometer/match_binsize: 50
 * /mono_odometer/match_disp_tolerance: 2
 * /mono_odometer/match_radius: 200
 * /mono_odometer/max_features: 2
 * /mono_odometer/motion_threshold: 100
 * /mono_odometer/multi_stage: 1
 * /mono_odometer/nms_n: 3
 * /mono_odometer/nms_tau: 50
 * /mono_odometer/outlier_disp_tolerance: 5
 * /mono_odometer/outlier_flow_tolerance: 5
 * /mono_odometer/ransac_iters: 2000
 * /mono_odometer/refinement: 1
 * /queue_size: 200000
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /use_sim_time: True

NODES
  /
    bla (tf/static_transform_publisher)
    image_proc (image_proc/image_proc)
    mono_odometer (viso2_ros/mono_odometer)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[image_proc-1]: started with pid [16027]
process[mono_odometer-2]: started with pid [16028]
process[bla-3]: started with pid [16029]
[ WARN] [1461212766.438703146]: mono_odometer needs rectified input images. The used image topic is 'image'. Are you sure the images are rectified?
[ INFO] [1461212766.455661296]: Basic Odometer Settings:
  odom_frame_id      = /odom
  base_link_frame_id = /base_link
  publish_tf         = true
  invert_tf          = false
[ WARN] [1461212776.536035120]: [image_transport] Topics '/image' and '/stereo_forward/right/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      0
    CameraInfo messages received: 98
    Synchronized pairs:           0
[ WARN] [1461212786.536403426]: [image_transport] Topics '/image' and '/stereo_forward/right/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      0
    CameraInfo messages received: 100
    Synchronized pairs:           0

Can somebody help me with converting of stereo to ... (more)

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