holmes.kirby's profile - activity

I would like my image_transport subscriber to use a different callback queue than the global queue so that when ros::spingOnce() is called my image_transport callback is not triggered.

Normally I would create a new callback queue and pass that to the subscriber constructor via SubscribeOptions but image_transport doesn't seem to support that.

I am curious why image_transport does not support seperate callback queues and what I should do to separate my image_transport subscriber from ros::spinOnce()

Instead of separating the image_transport callback from the global callback queue, I have limited the global callback qu

SubscribeOptions for image_transport subscriber I would like my image_transport subscriber to use a different callback q

SubscribeOptions for image_transport subscriber I would like my image_transport subscriber to use a different callback q

id be happy to but i need more reputation to reopen a closed question.

SubscribeOptions for image_transport subscriber I would like to have a separate callback queue for my image subscriber.

SubscribeOptions for image_transport subscriber I would like to have a separate callback queue for my image subscriber.

Ive edited the question

yes. its a private network. there isn't any other traffic

I'm passing vicon data to a pixhawk for velocity estimation for autonomous flight. Frequently, there are gaps in the data from vicon bridge that causes the position and velocity estimates on the pixhawk to wander all over the place.

I can't figure out where the bottleneck in the system is. The gaps in the data can last up two a few seconds.

Has anyone else had trouble with gaps in the vicon data?

My Setup: I have a windows computer running the vicon tracker software. Both the vicon computer and my loptop are on the same private wireless network. I am running vicon_bridge on my laptop using the ClientPull stream mode. I'm running a repeater node on my laptop that is sending vicon information back over the wireless network to my odroid computer. The odroid computer is running the control/autonomy software and is passing vicon data/ desired attitude/ and throttle to the pixhawk.

I have tried bagging on both the odroid and the laptop and have not seen any difference in the consistency in the vicon stream. The same gaps in the vicon data and the repeated data are the same in the bag so I believe the problem is upstream of the repeater node.

I will be testing the estimator with a ps3 eye to verify the problem isnt in my code

There was an error in the code used to visualize the estimates. No problem here.

I am trying to calibrate a mvBluefox-igc for a vision based estimator. When i run camera calibration a black bar appears at the bottom of the image in the window. So the images looks as if a bunch of zeroed rows were added to the bottom of the image.

I can get the calibration to work but I believe the coefficients that are returned are being corrupted by the empty rows at the bottom of the image.

The estimator misbehaves in a way that makes me believe that the estimated f_y is somehow larger than what it really is.

Would corrupted coefficients be effected by additional empty rows in the calibration image? All help is appreciated.

that's embarrassing. I should have more coffee before I code haha

I am in the process of moving some system parameters from being hard coded to retrieving them from a parameter server. I am getting some strange outputs in by class constructor.

Here is the code:

// Ros Initalization
ros::NodeHandle n;

// getting system parameters from server
std::cout << "defining the vectors \n" << std::cout;
vector<float>
    cam_disp,
    cam_eul,
    imu_disp,
    imu_eul,
    imu_cov,
    lights;
std::cout << " defining the bool \n" << std::cout;
bool sim = false;
std::cout << " I am entering the while loop \n" << std::cout;
while(!n.hasParam("Camera/euler_angles") ||
    !n.hasParam("Camera/displacement") ||
    !n.hasParam("Imu/euler_angles") ||
    !n.hasParam("Imu/displacement") ||
    !n.hasParam("Is_simulation") ||
    !n.hasParam("Shipdeck/lights")){
        std::cout << " waiting for params " << std::endl;
        ros::Duration(0.5).sleep();
}
std::cout << " leaving  the while loop" << std::cout;
n.getParam("Camera/euler_angles", cam_eul);
n.getParam("Camera/displacement", cam_disp);
n.getParam("Imu/euler_angles", imu_eul);
n.getParam("Imu/displacement", imu_disp);
n.getParam("Is_simulating", sim);
n.getParam("Shipdeck/lights", lights);
if (sim == false){
    while(!n.hasParam("Imu/covariance"))
        ros::Duration(0.5).sleep();
    n.getParam("Imu/covariance", imu_cov);
}
else{
    while(!n.hasParam("Imu/covariance_sim"))
        ros::Duration(0.5).sleep();
    n.getParam("Imu/covariance_sim", imu_cov);
}

This is the output I'm seeing

defining the vectors 
0x190354 defining the bool 
0x190354 I am entering the while loop

I have no idea where the numbers are coming from, they aren't from anywhere else in the code. I don't believe that it's getting stuck in the while loop; I've run the code with an empty parameter sever and I've seen the waiting msg. Previously I was checking for the existence of each individual parameter and that worked fine. I moved to this setup because it's much easier to read. Any help would be appreciated.

I should add that after the output I've posted above, the terminal becomes unresponsive. crt+c does nothing and I end up closing the window.

Hello All,

I have two callbacks within a class that share the same data in python. Is it possible that these callbacks are altering the data at the same time?

I am getting an error while trying to take the cholesky of a covariance matrix.

This looks perfect! Hopefully this turns out to be the problem.

thanks