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2016-02-29 12:19:56 -0500 asked a question Synchronization problems with stereo

Hello,

I'm trying to get a stereo rig with two kinects, using openni_camera for each one. A piece of the launch file for that is following:

  <node name="camera" pkg="openni_camera" type="openni_node" ns="$(vizzyarg left_kinect_camera_name)" >
    <param name="device_id" value="A00363912265050A" />
    <param name="rgb_frame_id" value="$(arg left_kinect_frame_prefix)" />
    <param name="publish_tf" value="$(arg publish_tf)"/>
    <param name="respawn" value="true"/>
    <param name="depth_registration" value="false"/>
  </node>

  <node name="camera" pkg="openni_camera" type="openni_node" ns="$(arg right_kinect_camera_name)" >
    <param name="device_id" value="A00366917732050A" /> 
    <param name="rgb_frame_id" value="$(arg right_kinect_frame_prefix)" />
    <param name="publish_tf" value="$(arg publish_tf)"/>
    <param name="respawn" value="true"/>
    <param name="depth_registration" value="false"/>
  </node>

Obviously, I was expecting a low desynchronization, but when running stereo_image_proc, even though with approximate_sync parameter set to true (both for stereo_image_proc and for stereo_odometer), I get the sync error (this one after 30 secs):

[ WARN] [1456769274.407372126]: Visual Odometer got lost!
[ WARN] [1456769286.546759753]: Visual Odometer got lost!
[ WARN] [1456769287.110827466]: [stereo_processor] Low number of synchronized left/right/left_info/right_info tuples received.
Left images received:       113 (topic '/vizzy/left/image_raw')
Right images received:      136 (topic '/vizzy/right/image_raw')
Left camera info received:  268 (topic '/vizzy/left/camera_info')
Right camera info received: 42 (topic '/vizzy/right/camera_info')
Synchronized tuples: 20

viso2 code is loosing always odometry (not due to lack of features) and warning about the sync. I don't know why cameras are publishing with this large async and I hope anyone to point me in the right direction.

UPDATE

I ran rqt_topic and the results left me more confused:

image description

All the topics are being published with approximately same rate, so the expected result would be approximate number of images/ camera info received. It looks like some messages are lost.

UPDATE

I just observed that when launching the camera drivers I get the following warning:

Warning: USB events thread - failed to set priority. This might cause loss of data...

Maybe that's the problem. I'll try next to find out more about this ...

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2016-01-25 06:45:43 -0500 asked a question differential_drive_controller publishing with wrong timestamps

Hello,

I'm using the differential_drive_controller plugin in urdf of my robot:

  <!-- differential drive -->
<gazebo>
    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>100</updateRate>
        <leftJoint>right_wheel_joint</leftJoint>
        <rightJoint>left_wheel_joint</rightJoint>
        <wheelSeparation>1.2</wheelSeparation>
        <wheelDiameter>0.3</wheelDiameter>
        <torque>5</torque>
        <commandTopic>cmd_vel</commandTopic>
        <odometryTopic>stereo/odom</odometryTopic>
        <odometryFrame>stereoodom</odometryFrame>
        <robotBaseFrame>base_link4</robotBaseFrame>
    </plugin>
</gazebo>

Everything works fine, although its data topics are publishing with completely wrong timestamps (they're huge).

    header: 
  seq: 175517
  stamp: 
    secs: 1453724932
    nsecs: 329340743
  frame_id: stereoodom
child_frame_id: base_link4

How I'm using tf's this is being annoying. Can anyone help me on this? Please.

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2015-11-23 11:22:28 -0500 answered a question global_plan goes through the wall

I just left eband planner. I am using the standard one, base_local_planner, and everything is ok! Thank you

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2015-11-23 06:47:51 -0500 asked a question global_plan goes through the wall

Hello,

I'm using navigation stack with following parameters:

(costmap_common_params.yaml)

global_frame: /map

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

obstacle_range: 2.5

raytrace_range: 3.0

min_obstacle_height: 0.6

inflation_radius: 1.5

observation_sources: scan

scan: {sensor_frame: laser_scan_link, data_type: LaserScan, topic: stereo/laser_scan, marking: true, clearing: true}

(eband_planner_params.yaml)

EBandPlannerROS:

# TRAJECTORY CONTROL

differential_drive: true

# velocity limits

max_vel_lin: 0.4

max_vel_th: 0.2

min_vel_lin: 0.08

min_in_place_vel_th: 0.05

# goal tolerance

xy_goal_tolerance: 0.2

yaw_goal_tolerance: 0.2

(global_costmap_params.yaml)

global_costmap:

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

static_map: true

transform_tolerance: 0.5

footprint_padding: 0.05

(local_costmap_params.yaml)

local_costmap:

global_frame: /map

robot_base_frame: base_footprint

update_frequency: 0.5

publish_frequency: 0.5

static_map: true

rolling_window: true

width: 5.0

height: 5.0

resolution: 0.05

transform_tolerance: 0.5

footprint_padding: 0.0

(move_base_params.yaml)

footprint: [[0.375, 0.375], [0.375, 0.0], [0.4125, 0.0], [0.4125, -0.0375], [0.375, -0.0375], [0.375, -0.375], [-0.075, -0.375], [-0.075, -0.4875], [-0.375, -0.4875], [-0.375, 0.4875], [-0.075, 0.4875], [-0.075, 0.375]]

The controller_frequency is set to 1.0. The problem is that the global plan computed goes through the wall. The plan of NavfnROS is fine. The bad one in the image is the global plan of EBandPlannerROS (robot tries to follow this one). As seen by the below image, Laser scan is well defined. I don't understand why this path is computed. Can anyone help me on this issue please?

image description

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2015-06-23 11:33:01 -0500 asked a question Image overlap (RViz and Gazebo world)

Hello people,

I am working with a robot equiped with a stereo camera rig, but when trying to see the image in RViz, I get an overlap of the two worlds, Rviz and gazebo:

image description

Running image_view to see the image I don't get this problem:

image description

I am not understanding why, and if someone could help me I would be very grateful.

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2015-04-20 08:57:38 -0500 asked a question Problem running viso2_ros

Hello people,

I'm am using the viso2_ros library and when running, it appears a second robot blinking and with different position and orientation in rviz. That robot also appears in robot camera image, appears a second LaserScan and CostMap. I am not understanding why, and if someone could help me I would be very grateful.

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2015-03-26 07:23:44 -0500 asked a question [FATAL] : ASSERTION FAILED When trying to use CameraPublisher

Hi,

I've been trying to publish camera topics and when publishing image and camera_info topics with image_transport::CameraPublisher, using

image_transport::CameraPublisher left_image_pub;

left_image_pub.publish(left_image,left_cam_info);

I get:

[FATAL] [1427371749.536180328]: ASSERTION FAILED
    file = /tmp/buildd/ros-hydro-image-transport-1.11.4-0precise-20150101-0635/src/camera_publisher.cpp
    line = 126
    cond = false
    message = 
[FATAL] [1427371749.536421266]: Call to publish() on an invalid image_transport::CameraPublisher
[FATAL] [1427371749.536482747]: 

Trace/breakpoint trap (core dumped)

I would be very grateful if anyone could help me, because I tryied a lot to search about this subject but with no success.

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2015-03-25 05:14:21 -0500 asked a question Error using sensor_msgs global variable

Hi everyone,

When trying to use global variables of type sensor_msgs I'm getting some errors running the code (compilation is done without errors), and I don't know what it referes. I declared the variables out of main:

const sensor_msgs::ImageConstPtr left_image;

And when trying to run the code, calling it in main, with any code (either std::cout , publish ....):

std::cout << "Time stamp (left image): "<< left_image->header.stamp << std::endl;

I get:

topic_sync2: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr<T>::operator->() const [with T = const sensor_msgs::Image_<std::allocator<void> >]: Assertion `px != 0' failed.
Aborted (core dumped

If anyone could help me I would be very grateful.

2015-03-24 13:33:37 -0500 asked a question Error trying to subscribe, synchronize and publish topics

I've been trying to synchronize topics of two cameras using the code below:

class SubscribeAndPublish
{
public:

  SubscribeAndPublish()
  {
    pub1_ = nh_.advertise<sensor_msgs::CameraInfo>("/published_topic1", 1);

    typedef sync_policies::ApproximateTime<sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MySyncPolicy;
    typedef message_filters::Synchronizer<MySyncPolicy> Synchronizer;
    boost::shared_ptr<Synchronizer> sync_;

    image1_sub.subscribe(nh_, "vizzy/left/image_raw", 1);
    image2_sub.subscribe(nh_, "vizzy/right/image_raw", 1);

    sync_.reset(new Synchronizer(MySyncPolicy(10), image1_sub, image2_sub));
    sync_->registerCallback(&SubscribeAndPublish::callback, _1, _2);

  }

Here I create the function that subscribes and fires the callback function to publish the message. But I'm getting the following errors in last line of above code: (I just posted part of the error message, because of it's extension!)

    /usr/include/boost/bind/bind.hpp: In instantiation of ‘boost::_bi::result_traits<boost::_bi::unspecified, void (SubscribeAndPublish::*)(const boost::shared_ptr<const sensor_msgs::CameraInfo_<std::allocator<void> > >&, const boost::shared_ptr<const sensor_msgs::CameraInfo_<std::allocator<void> > >&)>’:
/usr/include/boost/bind/bind_template.hpp:15:48:   instantiated from ‘boost::_bi::bind_t<boost::_bi::unspecified, void (SubscribeAndPublish::*)(const boost::shared_ptr<const sensor_msgs::CameraInfo_<std::allocator<void> > >&, const boost::shared_ptr<const sensor_msgs::CameraInfo_<std::allocator<void> > >&), boost::_bi::list2<boost::arg<1>, boost::arg<2> > >’
/home/aba/catkin_ws/src/viso2/viso2_ros/src/topic_sync.cpp:36:77:   instantiated from here
/usr/include/boost/bind/bind.hpp:69:37: error: ‘void (SubscribeAndPublish::*)(const boost::shared_ptr<const sensor_msgs::CameraInfo_<std::allocator<void> > >&, const boost::shared_ptr<const sensor_msgs::CameraInfo_<std::allocator<void> > >&)’ is not a class, struct, or union type

I lost many hours trying to solve that and if someone could help me I would be very grateful people. If useful I post here the remaing code:

void callback(const CameraInfoConstPtr& image1, const CameraInfoConstPtr& image2)
    {   
        pub1_.publish(image1);
    }

private:
  ros::NodeHandle nh_;
  ros::Publisher pub1_;
  message_filters::Subscriber<CameraInfo> image1_sub;
  message_filters::Subscriber<CameraInfo> image2_sub;

};//End of class SubscribeAndPublish

int main(int argc, char** argv)
{
  ros::init(argc, argv, "vision_node");

  SubscribeAndPublish SAPObject;

  ros::spin();

  return 0;
}
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