Facing issues in fovis_ros : NO_DATA and REPROJECTION_ERROR

asked 2017-04-12 04:31:28 -0500

Atul Divekar gravatar image

Hello I am using ROS-indigo distribution on ubuntu 14.04 LTS. I am trying to execute fovis_ros package for visual Odometery, but I am facing some problems in it. I have properly configured the fovis_ros package on PC. I have created the following fovis_ros.launch , which publishes /odom topic .I have used kinect camera for the depth and rgb imagee, But When I launch fovis launch file I am getting the following warning in it .

Please can one suggest me what is going wrong and how can I correct it . Also when I move my camera , there are no changes in the Odometery value , it just publishes zero values for coordinate.Thank's in advanced.

My fovis_ros.launch file are :


<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0.0 0.0 0.81 -1.5707 0.0 -1.5707 base_link camera_link 100"/>

<node pkg="nodelet" type="nodelet" args="manager" name="nodelet_manager"/> <node pkg="nodelet" type="nodelet" name="convert_openni_fovis" args="load depth_image_proc/convert_metric nodelet_manager"> <remap from="image_raw" to="/camera/hd/image_depth_rect"/> <remap from="image" to="/camera/hd/image_depth_rect_1"/> </node>

<node pkg="fovis_ros" type="fovis_mono_depth_odometer" name="fovis_mono_depth_odometer" output="screen">

 <remap from="/camera/rgb/image_rect" to="/camera/hd/image_color_rect" />

 <remap from="/camera/depth_registered/image_rect" to="/camera/hd/image_depth_rect_1" />

 <remap from="/camera/rgb/camera_info" to="/camera/hd/camera_info" />

 <remap from="/camera/depth_registered/camera_info" to="/camera/hd/camera_info" />

 <!-- Name of the world-fixed frame where the odometer lives -->
 <param name="odom_frame_id" value="/odom" />
 <!-- Name of the moving frame whose pose the odometer should report.-->
 <param name="base_link_frame_id" value="/base_link" />
 <!--If true, the odometer publishes tf's -->
 <param name="publish_tf" value=" true" />



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