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RGBDSLAMv2 not displaying image from Kinect2_bridge

I am running ROS kinetic on Ubuntu 16.04 on an intel NUC. I'm trying to generate 3D point clouds with a kinect one (v2) using RGBDSLAMv2. I have installed libfreenect2 and installed rgbdslam from the install.sh script which seems to work fine. `roslaunch kinect2bridge kinect2bridge.launchstarts fine and begins publishing its topics whenroslaunch rgbdslam rgbdslam.launch` is executed in a separate terminal. I changed the launch file's parameters to subscribe to the appropriate topics from kinect2bridge but the GUI for rgbdslam does not display anything.

 <!-- Input data settings-->
<param name="config/topic_image_mono"     value="/kinect2/qhd/image_color"/> 
<param name="config/topic_image_depth"     value="/kinect2/qhd/image_depth_rect"/>
<param name="config/topic_points"               value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->

It says waiting for visual image on topic "/kinect2/qwaitingecolor" wairing for depth image on topic "/kinect2/qhd/imagedepth_rect" and waiting for feature image... Both of these topics are publishing data so I am unsure how to proceed from here.

Asked by skynet on 2018-03-15 16:56:51 UTC

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turns out it is a parameter issue I followed an earlier post I cannot remember the url but this is the launch file I am using.

<launch>
<node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen">
<!-- Input data settings-->
<param name="config/topic_image_mono"              value="/kinect2/qhd/image_color_rect"/>
<param name="config/camera_info_topic"             value="/kinect2/qhd/camera_info"/>

<param name="config/topic_image_depth"             value="/kinect2/qhd/image_depth_rect"/>

<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="SIFTGPU"/><!-- also available: SIFT, SIFTGPU, SURF, SURF128 (extended SURF), ORB. -->
<param name="config/feature_detector_type"         value="SIFTGPU"/><!-- 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/optimizer_skip_step"           value="15"/><!-- optimize only every n-th frame -->
<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$

<param name="config/backend_solver"                value="csparse"/><!-- pcg is faster and good for continuous online optimization, cholmod and csparse are better for offline op$

<param name="config/pose_relative_to"              value="first"/><!-- optimize only a subset of the graph: "largest_loop" = Everything from the earliest matched frame to the cu$

<param name="config/maximum_depth"           value="5"/>
<param name="config/subscriber_queue_size"         value="20"/>

<param name="config/min_sampled_candidates"        value="30"/><!-- Frame-to-frame comparisons to random frames (big loop closures) -->
<param name="config/predecessor_candidates"        value="20"/><!-- Frame-to-frame comparisons to sequential frames-->
<param name="config/neighbor_candidates"           value="20"/><!-- Frame-to-frame comparisons to graph neighbor frames-->
<param name="config/ransac_iterations"             value="140"/>

<param name="config/g2o_transformation_refinement"           value="1"/>
<param name="config/icp_method"           value="gicp"/>  <!-- icp, gicp ... -->

<!--
<param name="config/max_rotation_degree"           value="20"/>
<param name="config/max_translation_meter"           value="0.5"/>

<param name="config/min_matches"           value="30"/>

<param name="config/min_translation_meter"           value="0.05"/>
<param name="config/min_rotation_degree"           value="3"/>
<param name="config/g2o_transformation_refinement"           value="2"/>
<param name="config/min_rotation_degree"           value="10"/>

<param name="config/matcher_type"         value="SIFTGPU"/>
 -->
</node>
</launch>

Asked by skynet on 2018-03-17 14:11:40 UTC

Answers