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Using ROS to detect obstacles

asked 2016-07-21 03:22:05 -0500

Zack29 gravatar image

Hi, I am new to using ROS, I am currently doing my final year project for detecting obstacles in an outdoor environment (e.g on airport runway surfaces). Are there any tips on how I can construct a package that can perform 3d mapping of obstacles using stereo vision? Thank you.

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Looking for the same thing basically

glagla gravatar imageglagla ( 2016-07-21 09:03:07 -0500 )edit

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answered 2016-07-22 13:33:49 -0500

Mark Rose gravatar image

There are several existing ROS packages that process stereo camera data. You might browse packages for your ROS installation: http://www.ros.org/browse/list.php . In particular, the stereo_image_proc package claims to be able to publish point clouds from stereo image processing ( http://wiki.ros.org/stereo_image_proc ). (I don't have any experience with that package, so can't give any more info.)

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The problem appears with ROS KINETIC as in INDIGO it works fine, but this is not the case of KINETIC which provide no disparity map

glagla gravatar imageglagla ( 2016-08-03 06:41:46 -0500 )edit

I installed ROS INDIGO and I seem to face the same problem as using ROS KINETIC, following the 'Choosing good stereo parameters' tutorial, I got till this part: $ rosrun rqt_reconfigure rqt_reconfigure reconfigure_gui started and the gui shows a blank drop down menu. I have no idea how to proceed.

Zack29 gravatar imageZack29 ( 2016-08-08 13:23:56 -0500 )edit

Unfortunately, as I said, I don't have experience with those packages. If you like, I'll delete this answer entirely to avoid people bypassing the question because they think it's already answered.

Mark Rose gravatar imageMark Rose ( 2016-08-08 17:58:17 -0500 )edit

Thanks for the offer, I think it's alright to leave the answer up, it is a good starting point for people who want to do the same thing as I did. Maybe they would have more knowledge on how to work around the errors.

Zack29 gravatar imageZack29 ( 2016-08-09 03:22:00 -0500 )edit

Stupid question, probably, but have you started roscore and the stereo processing node first? (I haven't yet used dynamic reconfiguration, but it looks like rqt_configure just looks at the current node graph to determine what to show in its GUI.)

Mark Rose gravatar imageMark Rose ( 2016-08-09 14:55:19 -0500 )edit

Also, you don't have to run rqt_configure, probably. Instead, set parameters in your launch file, then kill, edit, and restart to try different parameters. More of a pain, of course.

Mark Rose gravatar imageMark Rose ( 2016-08-09 14:56:19 -0500 )edit

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Asked: 2016-07-21 03:22:05 -0500

Seen: 376 times

Last updated: Jul 22 '16