lukashernandez's profile - activity

Finally I know what the problem was, thanks for your help, because it made me realize that the frequency was too low. I used 2 USB 2.0 interfaces because the xtion didn't work with USB 3.0. But for USB 2.0 the bandwidth was too high, so I updated the cameras firmware and now they work with USB 3.0 and my problems are gone :)

I checked it with rostopic hz /camera1/depth/image when my program was running and average rate: 3.790

so it seems like my program slows down the publishing rate when it subscribes to both rgb and depth??

Ok I checked that, the weird thing is that when i subscribe to both the rgb and the depth topics of camera1, very few messages are send out. secs: 1406138337 nsecs: 431660880 --- secs: 1406138338 nsecs: 100028746 for camera 2 It was secs: 1406138339 nsecs: 428893245 --- secs: 1406138339 nsecs: 462437619

It makes no difference if I subsribe to camera 1 or 2 and in rviz both are displayed correctly, they also have the same frame rate (30 hz). Increasing the queue didn't help either. How can I check the timestamps? I didn't find the command to do so. Thanks for your help!

Hello everyone,

I have 2 asus xtions and want to subscribe to both of the depth and rgb topics. But the callback of all 4 topics in my program never gets called. The problem only occurs when I subscribe to 4 different topics. Subscribing let's say twice the same depth topic works fine. I checked the topics in rviz and they are all correct. This is the code where I register the callback

message_filters::Subscriber<sensor_msgs::Image> depthSub1(nh, "/camera1/depth/image", 1);
message_filters::Subscriber<sensor_msgs::Image> colorSub1(nh, "/camera1/rgb/image_color", 1);
message_filters::Subscriber<sensor_msgs::Image> depthSub2(nh, "/camera2/depth/image", 1);
message_filters::Subscriber<sensor_msgs::Image> colorSub2(nh, "/camera2/rgb/image_color", 1);
message_filters::Synchronizer<SyncPolicy> sync(SyncPolicy(10), depthSub1, colorSub1,depthSub2, colorSub2);

sync.registerCallback(boost::bind(&PointCloudCalibration::callbackCombi, this, _1, _2, _3, _4));

SyncPolicy is defined as:

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image,sensor_msgs::Image, sensor_msgs::Image > SyncPolicy;

When I change depthSub2 "/camera2/depth/image" to "/camera1/depth/image" it works. It appears to me like if it would not be possible to subscribe to 4 different topics.

How can I fix that and what might be the reason?

Thanks in advance!

Hi,

I have an ASUS XTION PRO LIVE camera and I am using ROS Hydro on Ubuntu 12.04.

When I plug the camera into my USB 2.0 and launch

roslaunch openni_launch openni.launch

I get the error:

[ INFO] [1403448288.150558365]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /tmp/buildd/ros-hydro-openni-camera-1.9.2-0precise-20140524-2223/src/openni_device.cpp @ 61 : creating depth generator failed. Reason: USB interface is not supported!

Does anyone know what could fix the problem? Thanks in advance!