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aruco not publishing any information [closed]

asked 2020-05-27 22:25:53 -0600

aw3645 gravatar image


I am trying to implement aruco pose estimation through my camera mounted on the Kinova Gen3 arm and I am running into a small problem. Even though everything is connected to the right place, but aruco isn't publishing anything. What I am trying to acheive is what this tutorial is teaching:

I cloned aruco_ros from github and build it in my workspace, then, I modified the single.launch launch file so the camera_info and image topics matches with the Kinova camera topics. When I launch my camera driver and my custom aruco launch files, all the topics seem to go to the right place on rqt. I confirmed that my camera is working and publishing onto the image_raw topic but nothing is publishing onto the aruco topics. I echo both /aruco_single/pose and /aruco_single/results and none of them is giving me anything. I provided some screenshots and other information hopefully will be helpful in diagonosing the problem. Thank you very much for your time in advance. Also, my score isn't high enough yet so all links are images on google drive.

This is the launch file I modified off single.launch the cpp file simple_single hasn't been changed. Launch File

When I launch the aruco_single node, there is a slight warning about normalizeImage, not sure if this could be the problem. Warning when launching aruco

This is my rqt graph showing that aruco_single is indeed publishing to results topic rqt graph

I rostopic echo /aruco_single/result and view it on image_view both are no good, I double checked that when I use image view to stream the camera data, it works great image view frozen blank screen

And finally, this is my rostopic list: /aruco_single/debug /aruco_single/debug/compressed /aruco_single/debug/compressed/parameter_descriptions /aruco_single/debug/compressed/parameter_updates /aruco_single/debug/compressedDepth /aruco_single/debug/compressedDepth/parameter_descriptions /aruco_single/debug/compressedDepth/parameter_updates /aruco_single/debug/theora /aruco_single/debug/theora/parameter_descriptions /aruco_single/debug/theora/parameter_updates /aruco_single/marker /aruco_single/parameter_descriptions /aruco_single/parameter_updates /aruco_single/pixel /aruco_single/pose /aruco_single/position /aruco_single/result /aruco_single/result/compressed /aruco_single/result/compressed/parameter_descriptions /aruco_single/result/compressed/parameter_updates /aruco_single/result/compressedDepth /aruco_single/result/compressedDepth/parameter_descriptions /aruco_single/result/compressedDepth/parameter_updates /aruco_single/result/theora /aruco_single/result/theora/parameter_descriptions /aruco_single/result/theora/parameter_updates /aruco_single/transform /camer/color/camera_info /camera/color/camera_info /camera/color/image_raw /camera/color/image_raw/compressed /camera/color/image_raw/compressed/parameter_descriptions /camera/color/image_raw/compressed/parameter_updates /camera/color/image_raw/compressedDepth /camera/color/image_raw/compressedDepth/parameter_descriptions /camera/color/image_raw/compressedDepth/parameter_updates /camera/color/image_raw/theora /camera/color/image_raw/theora/parameter_descriptions /camera/color/image_raw/theora/parameter_updates /camera/color/image_rect_color /camera/color/image_rect_color/compressed /camera/color/image_rect_color/compressed/parameter_descriptions /camera/color/image_rect_color/compressed/parameter_updates /camera/color/image_rect_color/compressedDepth /camera/color/image_rect_color/compressedDepth/parameter_descriptions /camera/color/image_rect_color/compressedDepth/parameter_updates /camera/color/image_rect_color/theora /camera/color/image_rect_color/theora/parameter_descriptions /camera/color/image_rect_color/theora/parameter_updates /camera/color_rectify_color/parameter_descriptions /camera/color_rectify_color/parameter_updates /camera/depth/camera_info /camera/depth/image /camera/depth/image/compressed /camera/depth/image/compressed/parameter_descriptions /camera/depth/image ... (more)

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Closed for the following reason the question is answered, right answer was accepted by aw3645
close date 2020-06-17 07:47:14.122672

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answered 2020-05-28 17:01:39 -0600

aw3645 gravatar image

Turns out i made a typo.... instead of /camera/color/camera_info I type /camer/color/camera_info... found out in rqt_graph by unhiding everything.

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Asked: 2020-05-27 22:25:53 -0600

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Last updated: May 28 '20