borghetti's profile - activity

Hello,

I have a ceiling camera that publishes images in the topic "/camera/image_raw" (working and publishing perfectly through the network). I have also calibrated this camera using openCV calibration procedures and saved this calibration in a .yaml file. I am trying to use ar_pose_multi to get the data published in /ar_pose_marker. When I run:

roslaunch ar_pose ar_pose_multi.launch

it opens rviz simulator and there is the following error:

ERROR: cannot launch node of type [usb_cam/usb_cam_node]: usb_cam

I ignored this error because I dont have usb_cam...I get my images from the ceiling camera (but I dont know if I can ignore this). Finally, I printed a pattern present in /ccny_vision/ar_pose/data/4x4/ and put bellow the camera and I have tried different heights and distances from the camera.

My questions are:

1) I dont want to use the calibration procedure from ROS... Is it possible to use the .yaml calibration file that I already have to feed the topic /camera/camera_info, required by ar_pose_multi?

2) I used rostopic echo with /camera/image_raw and /camera/camera_info and there are data (although calibration has the majority of data without any values), but when I used rostopic echo with /ar_pose_marker there is no output. Do you have any idea about how ar_pose publishes in /ar_pose_marker?

3) Rviz opens normally, but it seems to be completely detached from the camera, so nothing appears on the screen.

I dont know if I have no output because my marker is too small, or my calibration file is wrong, or the usb_cam error is relevant.. I am a little lost :(

================ BEGIN EDIT: Adding more information that can be helpful:

1) I calibrated again the camera using the calibration procedure from ROS and now the calibration is successfully published in "camera/camera_info" topic.

2) the topic "/camera/image_raw" is also OK and I can see the image if I add the component "Image" to Rviz. However with the component "Camera" I have a warning "No Image received"

3) No error is triggered when I run the ar_pose_multi.launch node. But even so, when I put a marker below the camera, nothing happens, no marker seems to be tracked. Also, the topic "/ar_pose_makers" does not presents any value to me.

================ END EDIT

================ BEGIN EDIT: (2)

maybe it is helpful: I am using ROS indigo and Ubuntu 14.04

my ar_pose_multi-launch is:

<launch>
    <node pkg="rviz" type="rviz" name="rviz"/>
        args="-d $(find ar_pose)/launch/live_single.vcg"/>
    <node pkg="tf" type="static_transform_publisher" name="world_to_cam" 
        args="0 0 0.5 -1.57 0 -1.57 world usb_cam 1" />
    <node name="ar_pose" pkg="ar_pose" type="ar_multi" respawn="false" output="screen">
        <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
        <param name="threshold" type="int" value="100"/>
    </node>
</launch>

The output of rostopic for /camera/camera_info is:

---
header: 
  seq: 131827
  stamp: 
    secs: 1422538316
    nsecs: 930701784
  frame_id: /camera
height: 1920
width: 2560
distortion_model: plumb_bob
D: [-0.477363, 0.142675, 0.003122, -0.00082, 0.0]
K: [1294.855301, 0.0 ...

Hi,

I am a new user of ROS and I have tried to run the footstep_planner node and receive this message bellow:

    ERROR: cannot launch node of type [footstep_planner/footstep_planner_node]: can't locate node [footstep_planner_node] in package [footstep_planner]

This message occurred because the compilation was not successfully accomplished (can be seen in the end of the post).

To solve my problem, I have downloaded each octomap package from github and put the directories inside the stack but did not work. I have tried to rosmake each octomap package, as well as the footstep_planner before, and then rosmake humanoid_navigation, but still did not work. I don't know why, using ' sudo apt-get install ros-groovy-octomap*' returns no package for me. Maybe solving this apt-get issue the problem can be solved? Any ideas?

rosmake humanoid_navigation

[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['humanoid_navigation']
[ rosmake ] Logging to directory /informatik2/wtm/home/borghetti/.ros/rosmake/rosmake_output-20140226-164152
[ rosmake ] Expanded args ['humanoid_navigation'] to: ['footstep_planner', 'gridmap_2d', 'humanoid_localization', 'humanoid_planner_2d', 'octomap', 'octovis', 'octomap_msgs', 'octomap_ros']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin No Makefile in package catkin
[rosmake-0] Starting >>> octomap [ make ]
[rosmake-0] Finished <<< octomap ROS_NOBUILD in package octomap No Makefile in package octomap
[rosmake-3] Starting >>> genmsg [ make ]
[rosmake-0] Starting >>> octovis [ make ]
[rosmake-0] Finished <<< octovis ROS_NOBUILD in package octovis No Makefile in package octovis
[rosmake-0] Starting >>> cpp_common [ make ]
[rosmake-3] Finished <<< genmsg ROS_NOBUILD in package genmsg No Makefile in package genmsg
[rosmake-3] Starting >>> genlisp [ make ]
[rosmake-2] Starting >>> genpy [ make ]
[rosmake-1] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< cpp_common ROS_NOBUILD in package cpp_common No Makefile in package cpp_common
[rosmake-0] Starting >>> rostime [ make ]
[rosmake-2] Finished <<< genpy ROS_NOBUILD in package genpy No Makefile in package genpy
[rosmake-2] Starting >>> rospack [ make ]
[rosmake-1] Finished <<< gencpp ROS_NOBUILD in package gencpp No Makefile in package gencpp
[rosmake-3] Finished <<< genlisp ROS_NOBUILD in package genlisp No Makefile in package genlisp
[rosmake-3] Starting >>> roslang [ make ]
[rosmake-1] Starting >>> message_generation [ make ]
[rosmake-2] Finished <<< rospack ROS_NOBUILD in package rospack No Makefile in package rospack
[rosmake-2] Starting >>> roslib [ make ]
[rosmake-0] Finished <<< rostime ROS_NOBUILD in package rostime No Makefile in package rostime
[rosmake-0] Starting >>> roscpp_traits [ make ]
[rosmake-1] Finished <<< message_generation ROS_NOBUILD in package message_generation No Makefile in package message_generation
[rosmake-3] Finished <<< roslang ROS_NOBUILD in package roslang 0.0 sec ] [ roslib: 0.0 sec ] [ roscpp_traits: 0.0 sec ] [ 4 Active 10/65 Complete ] No Makefile in package roslang
[rosmake-2] Finished <<< roslib ROS_NOBUILD in package roslib No Makefile in package roslib
[rosmake-1] Starting >>> xmlrpcpp [ make ]
[rosmake-2] Starting >>> rosunit [ make ]
[rosmake-3] Starting >>> rosgraph [ make ]
[rosmake-0] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits No Makefile in package roscpp_traits
[rosmake-0] Starting >>> roscpp_serialization [ make ]
[rosmake-3] Finished <<< rosgraph ROS_NOBUILD in package rosgraph No Makefile in package rosgraph
[rosmake-3] Starting >>> rosparam [ make ]
[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp No Makefile in package xmlrpcpp
[rosmake-1] Starting >>> rosmaster [ make ]
[rosmake-2] Finished <<< rosunit ROS_NOBUILD in package rosunit No Makefile in package rosunit
[rosmake-2] Starting >>> rosconsole [ make ]
[rosmake-1] Finished <<< rosmaster ROS_NOBUILD in package rosmaster No Makefile in package rosmaster
[rosmake-3] Finished <<< rosparam ROS_NOBUILD in package rosparam No Makefile in package rosparam
[rosmake-0] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization No ...











































(more)