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tabletop_segmentation in rviz

asked 2013-05-23 12:26:49 -0500

Greg S gravatar image

updated 2016-10-24 09:00:13 -0500

ngrennan gravatar image

Hi, I am trying to see the output of tabletop_segmentation in rviz. Would really appreciate a little help. Nothing fancy - just the plain vanilla segmented point cloud, dont need to recognize objects, etc.

Precise 12.04, Fuerte

Running openni.launch (XBOX 360 Kinect cam), rviz and tabletop_segmentation.launch

All I can see in rviz is the point cloud from Kinect. How can I see markers from segmentation like shown in the tutorial for tabletop_object_detector?

Ran rostopic - I can see a published topic: tabletop_segmentation_markers - but nothing is being published to it.

Looks like tabletop_segmentation node is not getting data from Kinect. In the startup logs, I can see it using cloud_in:=narrow_stereo_textured/points2. Is that same as Kinect? If not, do I have to remap topics somehow?

Also, Kinect's IR projector lamp does not turn on when I just run tabletop_segmentation - it turns on only when I start rviz - another reason to suspect that I am not hooking things up correctly.

Please help, been trying to get this working for several long days now ...

Thanks! Greg

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1 Answer

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answered 2013-06-14 13:03:14 -0500

Greg S gravatar image

updated 2013-06-16 23:00:00 -0500

felix k gravatar image

The problem was the setting in tabletop_segmentation.launch

<arg name="tabletop_segmentation_points_in" default="/camera/depth_registered/points" />
<arg name="tabletop_segmentation_convert_to_base_link" **default="false"** />

This decouples tabletop segmentation from PR2 coordinate system

Thanks to Matei for pointing it out to me offline!

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I have the same problem, specially with the kinect not turning on, but when i implement your answer i still get the same problem, do you have any idea why? Also when you want to see the segmentation in rviz what new display type do you add? Thanks

ctguell gravatar image ctguell  ( 2013-09-12 04:10:29 -0500 )edit

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Asked: 2013-05-23 12:26:49 -0500

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Last updated: Jun 16 '13