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No camera message received with tum_simulator

asked 2018-11-12 06:41:52 -0500

boon gravatar image

updated 2018-11-15 00:47:48 -0500

I am running tum_simulator in ros kinetic ubuntu 16.04 when i run $ roslaunch cvg_sim_gazebo ardrone_testworld.launch

i get the following warning,

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
inconsistent namespace redefinitions for xmlns:xacro:
old: http://playerstage.sourceforge.net/gazebo/xmlschema/#interface
new: http://ros.org/wiki/xacro (/home/dyana/catkin_make/src/cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro)
inconsistent namespace redefinitions for xmlns:xacro:
old: http://playerstage.sourceforge.net/gazebo/xmlschema/#interface
new: http://ros.org/wiki/xacro (/home/dyana/catkin_make/src/cvg_sim_gazebo/urdf/sensors/sonar_sensor.urdf.xacro)
inconsistent namespace redefinitions for xmlns:xacro:
old: http://playerstage.sourceforge.net/gazebo/xmlschema/#interface
new: http://ros.org/wiki/xacro (/home/dyana/catkin_make/src/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro)
inconsistent namespace redefinitions for xmlns:xacro:
old: http://playerstage.sourceforge.net/gazebo/xmlschema/#interface
new: http://ros.org/wiki/xacro (/home/dyana/catkin_make/src/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro)
redefining global property: pi
when processing file: /home/dyana/catkin_make/src/cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro
xacro.py is deprecated; please use xacro instead

and when I $ rostopic echo /ardrone/front/camera_info

WARNING: no messages received and simulated time is active.
Is /clock being published?

I get the above message.

Is it because the camera xacro is not loaded properly? I did not have such issues while running with ros indigo. I get this issue after I moved to kinetic and gazebo7.14

How do i resolve this?

UPDATE:

I was trying to run tum_ardrone with tum_simulator and the drone camera feed window in tum_ardrone did not open. When I searched for possible reasons, I found that without the camera topic, the drone camera feed window will not open.

And when I checked the camera topic published by tum_simulator, there were no messages.

The output of, $ rostopic list

/altimeter
/ardrone/bottom/camera_info
/ardrone/bottom/image_raw
/ardrone/camera_info
/ardrone/front/camera_info
/ardrone/front/image_raw
/ardrone/image_raw
/ardrone/imu
/ardrone/land
/ardrone/navdata
/ardrone/reset
/ardrone/takeoff
/clock
/cmd_vel
/fix
/fix_velocity
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/ground_truth/state
/joint_states
/magnetic
/pressure_height
/rosout
/rosout_agg
/sonar_height
/tf
/tf_static

when i check for the camera topic info, it shows there are no publishers. $ rostopic info /ardrone/front/image_raw

Type: sensor_msgs/Image

Publishers: None

Subscribers: 
 * /gazebo (http://dyana-Inspiron-3542:35595/)

I wonder why? while working with indigo I was launching the same launch files, $ roslaunch cvg_sim_gazebo ardrone_testworld.launch with $ roslaunch tum_ardrone tum_ardrone.launch and I would get drone camera feed opened by tum_ardrone image description

Also when launching tum_simulator for the first time, i got the following error,

/opt/ros/kinetic/lib/image_proc/image_proc: symbol lookup error: /home/dyana/catkin_make/devel/lib/libimage_geometry.so: undefined symbol: _ZTVN2cv12_OutputArrayE
[ardrone/front/image_proc-2] process has died [pid 5698, exit code 127, cmd /opt/ros/kinetic/lib/image_proc/image_proc __name:=image_proc __log:=/home/dyana/.ros/log/339ec7d6-e4de-11e8-ba23-c03896420cbf/ardrone-front-image_proc-2.log].
log file: /home ...
(more)
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Comments

Yes this is caused by the xacro errors. The error messages give you several instructions how to solve them have you tried them? Have you looked at http://wiki.ros.org/xacro#Processing_Order ?

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-11-12 11:47:03 -0500 )edit

I found a tum_simulator ported to ros kinetic, https://github.com/angelsantamaria/tu...

Now, i don't get any warning related to xacro, but still I don't get any messages in camera topic.

$ rostopic echo /ardrone/front/image_raw WARNING: no messages received and simulated time is active.

boon gravatar imageboon ( 2018-11-13 05:28:18 -0500 )edit

Can you show us the output of rostopic list it's possible the name of the camera image topic has simply changed.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-11-13 05:38:55 -0500 )edit

Okay, now run rostopic info /ardrone/front/image_raw and it will display info about any publishers of or subscribers to that topic. I moved your response into your original question, can you post any further updates in there.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-11-13 06:11:34 -0500 )edit

Thanks for the help @PeterBlackerThe3rd

boon gravatar imageboon ( 2018-11-15 01:14:48 -0500 )edit

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answered 2018-11-15 01:10:23 -0500

boon gravatar image

updated 2018-11-15 01:11:14 -0500

i was missing gazebo_ros_pkgs, and I installed them, sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

Now, the camera topics are getting published.

$ rostopic info /ardrone/front/image_raw
Type: sensor_msgs/Image

Publishers: 
 * /gazebo (http://dyana-Inspiron-3542:39613/)

Subscribers: * /gazebo ( http://dyana-Inspiron-3542:39613/ )

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Asked: 2018-11-12 06:41:52 -0500

Seen: 126 times

Last updated: Nov 15 '18