setup viso2_ros with carla_ros_bridge [closed]

asked 2019-06-17 09:25:02 -0500

slin89 gravatar image

updated 2019-06-17 09:26:59 -0500

Hey Guys, I'm trying to use the libviso2 in special stereo_odometer to get a pose estimation for my vehicle inside a simulated environment CARLA Simulator. I'm using Ubuntu-16.04 with ROS kinetic and the proposed carla_ros_bridge. I cloned viso2_ros into catkin_ws/src/ and thought if I change the subscribed camera topics in class StereoProcessorin stereo_processor.h it could be enough. https://ibb.co/9GQzbFP topic_changes However, this doesn't seem to have any impact. I rerun catkin_make afterwards and the package stereo_odometer is build fresh but I can't start it. If I start stereo_image_proc with rosrun stereo_image_proc stereo_image_proc I get the following failures:

  [ WARN] [1560779591.102157905]: Started in the global namespace! This is probably wrong. Start stereo_image_proc in the stereo namespace.
Example command-line usage:
    $ ROS_NAMESPACE=my_stereo rosrun stereo_image_proc stereo_image_proc
[ WARN] [1560779591.508873458, 951.733382970]: The input topic '/left/image_raw' is not yet advertised
[ WARN] [1560779591.508965337, 951.733382970]: The input topic '/left/camera_info' is not yet advertised
[ WARN] [1560779591.509001096, 951.733382970]: The input topic '/right/image_raw' is not yet advertised
[ WARN] [1560779591.509049280, 951.733382970]: The input topic '/right/camera_info' is not yet advertised

If I set the global Namespace

ROS_NAMESPACE=carla/ego_vehicle/camera/rgb rosrun stereo_image_proc stereo_ige_proc
[ WARN] [1560779709.323436463, 1033.833387251]: The input topic '/carla/ego_vehicle/camera/rgb/left/image_raw' is not yet advertised
[ WARN] [1560779709.323535283, 1033.833387251]: The input topic '/carla/ego_vehicle/camera/rgb/right/image_raw' is not yet advertised

my tf-tree seems to be okay. https://ibb.co/VQq3X8Y my rqt_graph looks like that. https://ibb.co/L57502y

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Closed for the following reason the question is answered, right answer was accepted by slin89
close date 2019-06-18 13:02:37.509998

Comments

I was able to run the stereo_image_proc on my computer at university, there the everything is running well.

slin89 gravatar imageslin89 ( 2019-06-18 13:01:59 -0500 )edit