Running Turtlebot with viso2_ros (Linear odometry now working)
We are running stereo_odometer in viso2_ros on the turtlebot. We are running ROS Electric on Ubuntu 11.10.
We disabled the /odom publish in turtlebot_node.py, and let stereo_odometer publish to /odom. robot_pose_ekf will now subscribe to the odometry message from viso2_ros.
However, when we visualized it in rviz, the base_link frame only turns but it does not register any linear movements.
We set the "publish_tf" equal to "false", because robot_pose_ekf (not stereo_odometer) is supposed to compute the tf based on the odometry information from viso2_ros.
Does anyone have any suggestions on how to debug this?
Since the angular odometry is performing fine, we think the visual odometry is up and running well... but we're not sure how to debug a potential issue with transforms (tf) or publishing/subscribing
(we did write a custom tf between the base_link and our pair of stereo cameras, that seems to be correct by looking at rviz)
New info: We found out that the problem is in the library of libviso2. When the robot is stationary, the process method of VisionOdometryStereo returns true, but when the robot starts to move, it returns false. Will bad camera calibration or bad camera placement (we used 2 identical USB cameras placed side by side) cause the problem?
