turtlebot visualization tutorial : missing step ?

asked 2016-07-22 15:25:33 -0500

vincent78 gravatar image

I am a beginner with the turtlebot, and I am getting through the tutorial. Everything went smoothly until visualization : http://wiki.ros.org/turtlebot/Tutoria...

"roslaunching" 3dsensor.lauch results in :

[ INFO] [1469218497.427352736]: Initializing nodelet with 4 worker threads.
[ INFO] [1469218499.896268578]: Device "1d27/0601@1/32" found.
[ERROR] [1469218500.368594755]: Unsupported color video mode - Resolution: 640x480@30Hz Format: RGB888
[ INFO] [1469218501.848436029]: Starting depth stream.
[ INFO] [1469218502.347021890]: using default calibration URL
[ INFO] [1469218502.347443168]: camera calibration URL: file:///root/.ros/camera_info/rgb_PS1080_PrimeSense.yaml
[ INFO] [1469218502.348959188]: Unable to open camera calibration file [/root/.ros/camera_info/rgb_PS1080_PrimeSense.yaml]
[ WARN] [1469218502.349194447]: Camera calibration file /root/.ros/camera_info/rgb_PS1080_PrimeSense.yaml not found.
[ERROR] [1469218503.085167492]: Rectified topic '/camera/depth/image_rect_raw' requested but camera publishing '/camera/depth/camera_info' is uncalibrated
[ WARN] [1469218512.948623954]: [image_transport] Topics '/camera/depth/image_rect_raw' and '/camera/depth/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      0
    CameraInfo messages received: 300
    Synchronized pairs:           0

RViz starts correctly and shows the robot model and the tf tree. But nothing else. Status of Laserscan, DepthCloud,Registered Depth, PointCloud, Registered PointCloud are all "Ok". I checked the topic /camera/depth/image_raw and it was being broadcast at 30Hz. Yet, none if this is displayed.

The status of "Image" is "Warn" (no image received).

Looking for this I found that maybe this may be due to me not calibrating the xtion. ( http://wiki.ros.org/camera_calibration ). I am a little dubious because the tutorial does not mention this (or did I miss it ?). Also since the depth images are broadcasted, it seems strange they are not being displayed.

Anything I may be missing ?

(ubuntu 14.04, ros indigo, kobuki base, PrimeSense)

edit retag flag offensive close merge delete


You should not need to calibrate anything. Have you configured everything for the Kobuki or the Create?

aguadopd gravatar image aguadopd  ( 2016-07-26 07:48:19 -0500 )edit

Also, it seems you are running stuff as root user, and that should not be necessary, I think.

aguadopd gravatar image aguadopd  ( 2016-07-26 07:50:01 -0500 )edit

Try rosrun rqt_image_view rqt_image_view to see if there is some image being published,

aguadopd gravatar image aguadopd  ( 2016-07-26 07:54:41 -0500 )edit

Ok, my very bad. I naively thought a xtion was a xtion, discovered a live and a live pro are not the same thing, that I had a pro, therefore no rgb image ... --; Sorry for the bother

vincent78 gravatar image vincent78  ( 2016-07-27 15:25:16 -0500 )edit