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Frequency of fovis_ros

asked 2017-08-31 02:37:12 -0600

sykatch gravatar image


I'm trying to use fovis_ros package to get visual odometry (using asus xtion pro live). I run across a problem of its low frequency of published odometry messages. If there are just openni2_launch and fovis_ros nodes running, the frequency of the published odometry is around 2Hz, if I run also all other necessary nodes of my robot the frequency is even lower, around 1Hz. Using this odometry in my navigation stack is useless (I'm not 100% sure it's because of the frequency, it's only my guess, but it's definitely because of the fovis_ros package ).

There are some questions on this topic here but they are quite out dated and not solved, so I'd like to ask if anybody here solved this problem or are there any newer or better possibilities to get visual odometry. I'm currently trying to use ccny_rgbd, but I haven't make it run so far.

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answered 2017-09-05 08:15:25 -0600

sykatch gravatar image

updated 2017-09-05 08:16:18 -0600

It seems I found what's the issue. I was building my workspace with just catkin_make. When I build it with catkin_make -DCMAKE_BUILD_TYPE=Release, the odometry frequency of fovis is the same as the one of the messages from the input topic.

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Asked: 2017-08-31 02:37:12 -0600

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Last updated: Sep 05 '17