bkx's profile - activity

Hi,

I am trying to do leg detection with LIDAR, and the leg_detector node from people_experimental looks perfect for the job. The only problem is that I cannot find any documentation on how to use it, and so far my attempts have failed.

Here is a wiki page introducing the leg_detector node. This page has a broken link, http://home.willowgarage.com/wgwiki/Leg_Detection which supposedly has documentation.

I would greatly appreciate if anyone could share their experiences with the stack, or point me to the the right documentation :)

I'm using the Kinect for person tracking, and I have encountered a bug where OpenNI causes a segmentation fault when many objects move in/out of the frame. I did some research and it looks like the bug (below) was fixed in a newer version of OpenNI/NITE.

Program received signal SIGSEGV, Segmentation fault.
0x00007fffe23b374d in Segmentation::checkOcclusion(int, int, int, int) () from /usr/lib/libXnVFeatures.so
(gdb)

My question is, how can I safely update OpenNI to the latest version to work within the ROS framework?

Thanks for the help!

I am trying to run the openni_tracker node to duplicate the results from the wiki http://www.ros.org/wiki/openni_tracker although the openni_tracker node just isn't producing any output. Here is a log from running openni_tracker (openni_tracker.xml set to log info-level messages to screen.) It looks like openni_tracker is detecting users, but it is not publishing any data or displaying any images. rostopic -list just returns /rosout and /rossout_agg.

I have visualized Kinect point cloud data in rviz with openni_launch, so I doubt that this is a hardware problem. Does anyone have ideas on why openni_tracker is not publishing any data? I'd really appreciate any help in figuring this out!

Hi,

I have a populated Costmap2DROS object and a vector of poses which make up the robot's path. I need to verify that on every pose, the robot is not in collision.

It should be sufficient to check whether the pose lies within the robot's inscribed radius, although if the computational load is light enough I could check the robot's footprint.

What are the best practices for doing this with a Costmap2DROS? I have found that I can make a copy of the underlying costmap, but this seems inefficient.

Thanks!

Resolved by editing and recompiling openni_camera.

I'm having a problem where rosmake intermittently freezes, and the terminal becomes unresponsive. I can't find any pattern to when this happens, although the last thing shown is always

[ rosmake ] Checking rosdeps compliance for packages motion_tests.  This may take a few seconds.                                                                                                                    
[ rosmake ] rosdep check passed all system dependencies in packages

Any ideas on what could be wrong?

I have a stringstream that I'm using to store some debug information. Every so often, I try to print it out. I have found that

string s = ss.str();
ROS_INFO_STREAM(s);

works just as expected, the contents of ss are displayed in a message. But an operation that I feel should be identical,

ROS_INFO_STREAM( (ss.str()) );

results in nothing at all being displayed, except of course the usual ROS_INFO header "[ INFO]..."

Any ideas on why this could be?

I'm trying to calibrate my Kinect so that the RGB and depth data overlap. I am running openni_launch and using dynamic_reconfigure_gui to tweak the values.

I have a good value for depth_ir_offset_x (-1.8) but the maximum value for depth_ir_offset_y (10) is insufficient. It looks like depth_ir_offset_y=20 would be ideal, although I am limited to 10.

Any ideas on how to break this limit? Also, should I submit this as a bug?

Checking the header field could work if you have only one publisher, but breaks down if more than one node is publishing messages on a topic.