No output from pcl/NodeletMUX [closed]

asked 2012-05-04 00:22:17 -0500

liborw gravatar image


I'm using following launch file, but there are no published messages from pcl/NodeletMUX, I have checked both input topics and they are publishing messages.

<include file="$(find openni_launch)/launch/openni.launch"/>

<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

<!-- Run a passthrough filter to clean NaNs -->
<node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough pcl_manager" output="screen">
    <remap from="/passthrough/input"   to="/camera/depth/points" />
        filter_field_name: z
        filter_limit_min: 1.3
        filter_limit_max: 1.5

<!-- Estimate point normals -->
<node pkg="nodelet" type="nodelet" name="normal_estimation" args="load pcl/NormalEstimation pcl_manager" output="screen">
    <remap from="/normal_estimation/input"   to="/passthrough/output" />
        # -[ Mandatory parameters
        # Set either 'k_search' or 'radius_search'
        k_search: 10
        radius_search: 0
        # Set the spatial locator. Possible values are: 0 (ANN), 1 (FLANN), 2 (organized)
        spatial_locator: 0

<!-- MUX the data onto one topic -->
<node pkg="nodelet" type="nodelet" name="data_mux_1" args="load pcl/NodeletMUX pcl_manager" output="screen">
        input_topics: [/passthrough/output, /normal_estimation/output]

<!-- Concatenate fields -->
<node pkg="nodelet" type="nodelet" name="concatenate_data" args="load pcl/PointCloudConcatenateFieldsSynchronizer pcl_manager" output="screen">
    <remap from="/concatenate_data/input" to="/data_mux_1/output" />
        # Number of messages to expect on the input topic
        input_messages: 2
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-07-24 04:33:14