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How to use PointCloud of ZED camera with move_base

asked 2019-06-16 06:59:50 -0500

otomono10 gravatar image

updated 2019-06-18 08:16:59 -0500

I would like to use the ZED Mini camera for navigation without a laser.

The move_base node does not subscribe to zed's PointCloud sensor. Could you tell me how to solve it?

The commands are listed below.

$ roslaunch zed_wrapper zedm.launch
$ roslaunch my_node move_base.launch

link(zedm.launch)

move_base.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
<node pkg="move_base" type="move_base" name="move_base">
    <rosparam file="$(find my_node)/params/move_base_params.yaml" command="load" />
    <rosparam file="$(find my_node)/params/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find my_node)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_node)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <remap from="odom" to="/zed/zed_node/odom" />
</node>
</launch>

costmap_common_params.yaml

obstacle_range: 2.0 
raytrace_range: 2.5 
footprint: [[0.15, 0.15], [-0.15, 0.15], [-0.15, -0.15], [0.15, -0.15]]

observation_sources: point_cloud_sensor
point_cloud_sensor: {
  data_type: PointCloud2,
  topic: /zed/zed_node/point_cloud/cloud_registered,
  marking: true,
  clearing: true,
  inf_is_valid: true
}

I'm using Jetson TX1, Ubuntu 16.04, ROS kinetic and zedm camera.


editted:
The zed mini point cloud message is published correctly. It was displayed in rviz. I also confirmed the following command.

$ rostopic echo /zed/zed_node/point_cloud/cloud_registered
header:
seq: 3853
stamp:
secs: 1560859786
nsecs: 781150744
frame_id: "zed_left_camera_frame"
height: 376
width: 672
fields:
-
name: "x"
offset: 0
datatype: 7
count: 1
-
name: "y"
...

The topic list is below.

$ rostopic list | grep point_cloud
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/point_cloud/fused_cloud_registered

Also, I checked the strange behavior.
The move_base subscribed to the point cloud node of zed mini only for a moment immediately after launching move_base. After that, move_base does not subscribe to that point cloud.

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Comments

Hello otomono10, Can you add some information about my_node and how you subscribe to the zed_wrapper?

Kluun gravatar imageKluun ( 2019-06-18 08:32:08 -0500 )edit

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answered 2019-06-18 04:57:42 -0500

Kluun gravatar image

Hello otomono10,

Can you get information (like a point cloud) from the zed mini? You can tested that with the zed Rviz launch files.

if you get information from the camera, I advise to check of the topic name which the my_node is subscribed to is correct. The topic names of the zed_wrapper can be found by running it in one terminal and running the following command in another terminal:

$ rostopic list

If you don't get information from camera, i advise to check if you installed all ZED packages correctly.

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Thank you for your answer. I added information.

otomono10 gravatar imageotomono10 ( 2019-06-18 07:45:53 -0500 )edit

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Asked: 2019-06-16 06:59:50 -0500

Seen: 25 times

Last updated: Jun 18