Not advertized topics when using stereo_image_proc

asked 2016-07-14 05:15:39 -0600

perfectspeed gravatar image

updated 2016-07-14 09:54:40 -0600

This is probably a mapping problem between prosilica_camera and stereo_image_proc and maybe a quite easy one, but I have spent some time with it and cant realize what the problem is. Please, any ideas are welcome.

Question: How do I change my launchfile so I get a disparity image?

I'm running Ubuntu 14.04 and Indigo. I use two prosilica cameras in a stereo setup with a hardware sync at 5Hz. I have calibrated the cameras with cameracalibrator.py and it works fine, running as:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 right:=/stereo/right/image_raw left:=/stereo/left/image_raw --approximate=0.001

But, I do encounter problems when I create a launchfile with stereo_image_proc. I got the following warning messages:

[ WARN] [1468489598.756891997]: The input topic '/stereo/left/image_raw' is not yet advertised
[ WARN] [1468489598.757031851]: The input topic '/stereo/left/camera_info' is not yet advertised
[ WARN] [1468489598.757079896]: The input topic '/stereo/right/image_raw' is not yet advertised
[ WARN] [1468489598.757120022]: The input topic '/stereo/right/camera_info' is not yet advertised

I can see information when I run, e.g.: rostopic info /stereo/left/image_raw

The part of the launch file that concerns stereo:

<group ns="stereo">

  <!-- Left camera node -->
  <node name="left" pkg="prosilica_camera" type="prosilica_node" output="screen" >
     <param name="guid" type="str" value="$(arg guid)" />
    <param name="ip_address" type="str" value="192.168.101.2" />
    <param name="frame_id" value="left_optical_frame" />
    <rosparam command="load" file="cam_settings_1350.yaml" />
    <remap from="image_raw" to="left/image_raw" />
    <remap from="camera_info" to="left/camera_info" />
 </node>

  <!-- Right camera node -->
  <node name="right" pkg="prosilica_camera" type="prosilica_node" output="screen" >
     <param name="guid" type="str" value="$(arg guid)" />
    <param name="ip_address" type="str" value="192.168.102.2" />
    <param name="frame_id" value="right_optical_frame" />
    <rosparam command="load" file="cam_settings_1350.yaml" />
    <remap from="image_raw" to="right/image_raw" />
    <remap from="camera_info" to="right/camera_info" />
 </node> 

<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen"> 
<param name="approximate" value="0.005" />
</node>

<node name="stereo_cam" pkg="image_view" type="stereo_view"> </node>

</group>

Added after first comment. rostopic list says :

/diagnostics
/rosout
/rosout_agg
/stereo/disparity
/stereo/left/camera_info
/stereo/left/image_color
/stereo/left/image_color/compressed
/stereo/left/image_color/compressed/parameter_descriptions
/stereo/left/image_color/compressed/parameter_updates
/stereo/left/image_color/compressedDepth
/stereo/left/image_color/compressedDepth/parameter_descriptions
/stereo/left/image_color/compressedDepth/parameter_updates
/stereo/left/image_color/theora
/stereo/left/image_color/theora/parameter_descriptions
/stereo/left/image_color/theora/parameter_updates
/stereo/left/image_mono
/stereo/left/image_mono/compressed
/stereo/left/image_mono/compressed/parameter_descriptions
/stereo/left/image_mono/compressed/parameter_updates
/stereo/left/image_mono/compressedDepth
/stereo/left/image_mono/compressedDepth/parameter_descriptions
/stereo/left/image_mono/compressedDepth/parameter_updates
/stereo/left/image_mono/theora
/stereo/left/image_mono/theora/parameter_descriptions
/stereo/left/image_mono/theora/parameter_updates
/stereo/left/image_raw
/stereo/left/image_raw/compressed
/stereo/left/image_raw/compressed/parameter_descriptions
/stereo/left/image_raw/compressed/parameter_updates
/stereo/left/image_raw/compressedDepth
/stereo/left/image_raw/compressedDepth/parameter_descriptions
/stereo/left/image_raw/compressedDepth/parameter_updates
/stereo/left/image_raw/theora
/stereo/left/image_raw/theora/parameter_descriptions
/stereo/left/image_raw/theora/parameter_updates
/stereo/left/image_rect
/stereo/left/image_rect/compressed
/stereo/left/image_rect/compressed/parameter_descriptions
/stereo/left/image_rect ...
(more)
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Comments

What is the output of rostopic list after you launch?

moates gravatar imagemoates ( 2016-07-14 08:45:51 -0600 )edit

Thanks for stopping by. I updated the question above.

perfectspeed gravatar imageperfectspeed ( 2016-07-14 09:54:41 -0600 )edit

Do the warnings stop eventually? Does stereo/left/image_rect populate with data? It seems like there just might be a small delay in the camera publishing images.

moates gravatar imagemoates ( 2016-07-14 11:14:00 -0600 )edit

You're right. It populates with data, but there are no data in stereo/stereo/disparity or in /stereo/disparity. Shouldn't stereo_image_proc subscribe to /stereo/left/image_raw and /stereo/left/camera_info and corresponding topics for the right camera and publish a disparity image?

perfectspeed gravatar imageperfectspeed ( 2016-07-14 12:02:26 -0600 )edit

I have the same problem. did you manage to solve it?

Mary gravatar imageMary ( 2017-06-22 06:53:12 -0600 )edit

No, I'm sorry say that I haven't found a solution for this, but I'm still interested in a solution. My goal was to use the stereo cameras in comparison with other sensors, but I couldn't use the stereo camera in this work.

perfectspeed gravatar imageperfectspeed ( 2017-06-27 22:42:40 -0600 )edit

I also have the same problem. Has anyone managed to solve this yet?

sethcoast gravatar imagesethcoast ( 2019-11-05 10:42:40 -0600 )edit