Ask Your Question
0

Simulating real camera data

asked 2019-05-28 06:36:53 -0500

pathare gravatar image

Hi guys,

Is there a way I can simulate camera data similarly to how rosbag works? I tried rosbag but was missing tf data so that didn't work.

is it as simple as adding another topic to record? looking through the available topics I don't see anything that looks like what I need.

In essence what I want to do is, record the data stream of my cameras to pass to my perception pipeline so I can start working on making the robot move to a pick location. I'd like to work at my desk if possible and not at the robot since there isn't much room for my laptop there.

Thanks

edit retag flag offensive close merge delete

Comments

but was missing tf data so that didn't work

Did you record the tf topic in the bag file?

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2019-05-28 08:53:54 -0500 )edit

Yes, the error that I'm getting in RVIZ is: "Transform [sender=unknown_publisher] for frame [camera1_color_optical_frame]: Frame [camera1_color_optical_frame] does not exist."

does this mean something else maybe?

pathare gravatar imagepathare ( 2019-05-28 09:40:02 -0500 )edit

Have you tried recording every topic and playing that back to if that works?

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2019-05-28 09:52:39 -0500 )edit

I have not tried that, let me give that a try real quick and get back to you

pathare gravatar imagepathare ( 2019-05-28 10:03:37 -0500 )edit

When I subscribe to all on the rosbag with a -a it crashes my software and it wont run. I went back and rerecorded the cameras and the tf and increased the buffer so it stopped filling up and that still didnt work either.

pathare gravatar imagepathare ( 2019-05-28 10:24:32 -0500 )edit
1

This message means you don't have TF (http://wiki.ros.org/tf) between those cameras published. TF between 2 cameras most likely is the static one. I think you need to record both /tf and /tf_static. Also do rostopic echo /tf_static and check that TF between those cameras is there in the output.

mch gravatar imagemch ( 2019-06-07 20:05:27 -0500 )edit

Sorry it took so long to reply, your suggestion was correct. Thanks!

pathare gravatar imagepathare ( 2019-06-21 07:52:58 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2019-06-21 07:55:04 -0500

pathare gravatar image

updated 2019-06-21 07:56:59 -0500

The answer was suggested by mch,

This message means you don't have TF (http://wiki.ros.org/tf) between those cameras published. TF between 2 cameras most likely is the static one. I think you need to record both /tf and /tf_static. Also do rostopic echo /tf_static and check that TF between those cameras is there in the output.

I needed to also record tf_static.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2019-05-28 06:36:53 -0500

Seen: 164 times

Last updated: Jun 21