Rgbdslam (v2) on ROS indigo using Orbbec astra

asked 2018-03-15 05:54:58 -0600

MariYrobot gravatar image

updated 2018-03-15 06:07:05 -0600

I use rgbdslam (v2) on ROS indigo (Ubuntu 14.04) , trying to get it working with Orbbec Astra when i launch :

roslaunch astra_launch astra.launch 
roslaunch rgbdslam rgbdslam.launch

i got this :

https://user-images.githubusercontent...

this is the launch file :

<launch>
      <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen"> 
        <!-- Input data settings-->
        <param name="config/topic_image_mono"         value="/camera/rgb/image_rect_color"/>

        <param name="config/topic_image_depth"        value="/camera/depth/image_raw"/>
        <param name="config/topic_points"             value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->
        <!-- These are the default values of some important parameters
-->
        <param name="config/feature_extractor_type"   value="ORB"/><!-- also available: SIFT, SIFTGPU, SURF, SURF128

 (extended SURF), ORB. -->
    <param name="config/feature_detector_type"    value="ORB"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->
    <param name="config/detector_grid_resolution" value="3"/><!-- detect on a 3x3 grid (to spread ORB keypoints and parallelize SIFT and SURF) -->
    <param name="config/max_keypoints"                 value="600"/><!-- Extract no more than this many keypoints -->
    <param name="config/max_matches"                   value="300"/><!-- Keep the best n matches (important for ORB to set lower than max_keypoints) -->

    <param name="config/min_sampled_candidates"   value="4"/><!-- Frame-to-frame comparisons to random frames (big loop closures) -->
    <param name="config/predecessor_candidates"   value="4"/><!-- Frame-to-frame comparisons to sequential frames-->
    <param name="config/neighbor_candidates"      value="4"/><!-- Frame-to-frame comparisons to graph neighbor frames-->
    <param name="config/ransac_iterations"        value="100"/>
    <param name="config/cloud_creation_skip_step" value="2"/><!-- subsample the images' pixels (in both, width and height), when creating the cloud (and therefore reduce memory consumption) -->


    <param name="config/cloud_display_type"       value="POINTS"/><!-- Show pointclouds as points (as opposed to TRIANGLE_STRIP) -->
    <param name="config/pose_relative_to"         value="largest_loop"/><!-- optimize only a subset of the graph: "largest_loop" = Everything from the earliest matched frame to the current one. Use "first" to optimize the full graph, "inaffected" to optimize only the frames that were matched (not those inbetween for loops) -->
    <param name="config/backend_solver"           value="pcg"/><!-- pcg is faster and good for continuous online optimization, cholmod and csparse are better for offline optimization (without good initial guess)-->
    <param name="config/optimizer_skip_step"      value="1"/><!-- optimize only every n-th frame -->

</node> </launch> What can I do !

I appreciate your help ...

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Comments

It isn't entirely clear what the problem is - there doesn't seem to be any errors in the picture you've uploaded?

stevejp gravatar image stevejp  ( 2018-03-15 06:30:20 -0600 )edit

Thank you for your answer @stevejp

yes it shows no errors, the nodes are well connected ,but rgbdslam doesn't give me anything only keep waiting for depth image on topic "/camera/depth/image_raw"

/ for visual image on topic "/camera/rgb/image_rect_color"

/for feature image...

MariYrobot gravatar image MariYrobot  ( 2018-03-15 08:13:39 -0600 )edit

rqt_graph donne :

screenshot from 2018-03-13 10 21 56

MariYrobot gravatar image MariYrobot  ( 2018-03-15 08:21:22 -0600 )edit

Are you sure your camera is working? If you just run your camera node are the proper topics being published under the correct names? Can you visualize them in rviz? Could you post a list of topics being published by your camera?

stevejp gravatar image stevejp  ( 2018-03-15 08:22:12 -0600 )edit

yes it works well

i have visual and depth image but i have no idea how to get "feature image"

"Waiting for feature image.." what does it mean ?

MariYrobot gravatar image MariYrobot  ( 2018-03-15 08:27:19 -0600 )edit

indeed, even if I disconnect the camera, it gives the same result seen on the picture

https://user-images.githubusercontent...

MariYrobot gravatar image MariYrobot  ( 2018-03-15 11:13:46 -0600 )edit