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How do you get stereo_image_proc to include a frame_id so that rviz will accept the point cloud messages?

asked 2011-04-28 13:30:48 -0500

updated 2011-04-29 11:12:28 -0500

When running stereo_image_proc, I'm attempting to view the point cloud data with rviz. However rviz complains and throws out the messages sayin "MessageFilter [target=/ ]: Discarding message from [/stereo_image_proc] due to empty frame_id".

I can find no reference to frame_id in stereo_image_proc, and I've tried fiddling with the fixed frame parameters in rviz to no avail.

Am I missing something obvious?

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answered 2011-04-29 07:40:00 -0500

It turns out that stereo_image_proc simply forwards the header info it finds in the camera_info message it gets from the left camera. If your camera info manager is not publishing a frame_id with in the camera_info message, neither will stereo_image_proc and you won't be able to visualize with rviz.

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answered 2011-04-28 20:57:04 -0500

I'm not familiar with stereo_proc but you could do rostopic echo /stereo_image_proc/header to view what the frame_id of the messages is. For more help, you would need to give more information about what you are actually doing.

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I figured it out and posted the answer. Unfortunately the system won't let me accept my own answer at the moment.
Asomerville gravatar image Asomerville  ( 2011-04-29 08:11:40 -0500 )edit

Hi! Did you get any solution to visualize it with rviz? I've come up with the same problem. Edit: okay, frame_id was stereo_optical_frame

ffusion gravatar image ffusion  ( 2012-11-09 00:02:30 -0500 )edit

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Asked: 2011-04-28 13:30:48 -0500

Seen: 1,208 times

Last updated: Apr 29 '11