[ar_track_alvar] visualization_marker cannot visualize in RVIZ

asked 2017-03-21 03:41:04 -0500

simon.xm.lee gravatar image

updated 2017-03-21 04:10:59 -0500

I use ar_track_alvar to detect bundle with kinectv2. After I setup launch file and marker.xml, I can run my launch file. The ar_pose_marker and visualization_marker topics can be publish. And I move the ar_maker into the view of kinect, I also can see the data changing by rostopic echo visualization_marker. Therefore I can make sure the al_track_alvar stack should be available. However, I run rviz and add the visualization_marker topic to visualize it, but I cannot see anything. Does anyone give suggestions?

<launch>
<arg name="marker_size" default="6.1" />
<arg name="max_new_marker_error" default="0.08" />
<arg name="max_track_error" default="0.2" />
<arg name="cam_image_topic" default="/kinect2/hd/image_color" />
<arg name="cam_info_topic" default="/kinect2/hd/camera_info" />
<arg name="output_frame" default="/kinect2_rgb_optical_frame" />
<arg name="bundle_files" default="$(find al_track_alvar)/bundles/MarkerData_0_1_2.xml" />
<node name="ar_track_alvar" pkg="ar_track_alvar" type="findMarkerBundlesNoKinect" respawn="false" output="screen"
 args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame) $(arg bundle_files)" />
</launch>
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Comments

Maybe you should check the fixed frame in RViz, if it does not belong to your TF tree then you should change it to known frame

angeltop gravatar imageangeltop ( 2017-03-27 07:36:10 -0500 )edit