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2015-10-07 01:12:46 -0500 | answered a question | libgazebo_ros_openni_kinect.so depth pointcloud wrong tf By adding a link for the depthframe I got rid of the wrong transform.
<joint name="cameraLeft_joint" type="fixed">
<origin xyz="0 0.11 0.02" rpy="0 0.39 1"/>
<parent link="cameraBase_link"/>
<child link="cameraLeft_link"/>
</joint>
<link name="cameraLeft_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<material name="orange"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.1"/>
<box_inertia m="0.1" x="0.05" y="0.05" z="0.05"/>
</inertial>
</link>
<joint name="cameraLeft_depth_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-PI/2} 0 ${-PI/2} "/>
<parent link="cameraLeft_link"/>
<child link="cameraLeft_depth_link"/>
</joint>
<link name="cameraLeft_depth_link"></link>
<gazebo reference="cameraLeft_link">
<sensor type="depth" name="openni_camera_camera">
<always_on>1</always_on>
<visualize>true</visualize>
<camera>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="cameraLeft_controller" filename="libgazebo_ros_openni_kinect.so">
<alwayson>true</alwayson>
<updaterate>30.0</updaterate>
<cameraname>cameraLeft</cameraname>
<framename>cameraLeft_depth_link</framename>
<imagetopicname>CameraLeft/rgb/image_raw</imagetopicname>
<depthimagetopicname>CameraLeft/depth/image_raw</depthimagetopicname>
<pointcloudtopicname>CameraLeft/depth/points</pointcloudtopicname>
<camerainfotopicname>CameraLeft/rgb/camera_info</camerainfotopicname>
<depthimagecamerainfotopicname>CameraLeft/depth/camera_info</depthimagecamerainfotopicname>
<pointcloudcutoff>0.8</pointcloudcutoff>
<pointcloudcutoffmax>3.5</pointcloudcutoffmax>
</plugin>
</sensor>
</gazebo>
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2015-09-30 02:48:56 -0500 | commented question | libgazebo_ros_openni_kinect.so depth pointcloud wrong tf sdf
<pose>0.29 0.0 1.068 0.05 0.535 0.13</pose>
urdf
<origin xyz="0.29 0.0 1.068" rpy="0.05 0.535 0.13"/>
When I change it
<origin xyz="0.29 0.0 1.068" rpy="1.035 3.1 1.675"/>
the pointcloud fits the laserscan.
But why? |
2015-09-30 02:43:09 -0500 | answered a question | libgazebo_ros_openni_kinect.so depth pointcloud wrong tf In gazebo my model.sdf the pose is the following:
<pose>0.29 0.0 1.068 0.05 0.535 0.13</pose>
And in my robot.urdf the origin is the following:
<origin xyz="0.29 0.0 1.068" rpy="0.05 0.535 0.13"/>
When I change the origin to be:
<origin xyz="0.29 0.0 1.068" rpy="1.035 3.1 1.675"/>
the pointcloud fits together with the laserscan.
But why do I have to do this? Where does the twist come from? |
2015-09-29 06:21:26 -0500 | asked a question | libgazebo_ros_openni_kinect.so depth pointcloud wrong tf Hello,
I am new to ROS. I am trying to simulate a robot in gazebo witch works fine for now, but I have a problem with simulating a kinect camera. The simulated data seems to be right, but when I try to display the results in rviz the transform is not correct. Can anyone give me a hint where my coding went wrong? Gazebo: 6.1.0
Ros: Indigo
Rviz: 1.11.8 model.sdf
<link name="CameraLeft_Link">
<pose>0.29 0.0 1.068 0.05 0.535 0.13</pose>
<inertial>
<mass>0.1</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<pose>0 0 0 1.57 0 1.57</pose>
<geometry>
<mesh>
<uri>model://b45/meshes/asus.dae</uri>
</mesh>
</geometry>
</visual>
<sensor type="depth" name="openni_camera_camera">
<always_on>1</always_on>
<visualize>true</visualize>
<camera>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<alwayson>true</alwayson>
<updaterate>30.0</updaterate>
<cameraname>cameraLeft</cameraname>
<framename>/CameraLeft_Link</framename>
<imagetopicname>CameraLeft/rgb/image_raw</imagetopicname>
<depthimagetopicname>CameraLeft/depth/image_raw</depthimagetopicname>
<pointcloudtopicname>CameraLeft/depth/points</pointcloudtopicname>
<camerainfotopicname>CameraLeft/rgb/camera_info</camerainfotopicname>
<depthimagecamerainfotopicname>CameraLeft/depth/camera_info</depthimagecamerainfotopicname>
<pointcloudcutoff>0.8</pointcloudcutoff>
<pointcloudcutoffmax>3.5</pointcloudcutoffmax>
</plugin>
</sensor>
</link>
robot.urdf
<robot name="autreim">
<link name="base_link">
</link>
<joint name="laser" type="fixed">
<origin xyz="0.46 0 0.62" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="base_laser_link"/>
</joint>
<link name="base_laser_link">
</link>
<joint name="cameraLeft" type="fixed">
<origin xyz="0.29 0.0 1.068" rpy="0.05 0.535 0.13"/>
<parent link="base_link"/>
<child link="CameraLeft_Link"/>
</joint>
<link name="CameraLeft_Link">
</link>
<joint name="cameraRight" type="fixed">
<origin xyz="0.305 -0.22 0.975" rpy="1.52 0.4 -1.08"/>
<parent link="base_link"/>
<child link="CameraRight_Link"/>
</joint>
<link name="CameraRight_Link">
</link>
<joint name="scheuerteller" type="fixed">
<origin xyz="0.33 -0.06 0" rpy="0 0 0"/>
<child link="scheuerteller_link"/>
<parent link="base_link"/>
</joint>
<link name="scheuerteller_link"/>
<joint name="footprint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<child link="base_link"/>
<parent link="base_footprint"/>
</joint>
<link name="base_footprint"/>
<joint name="ximu" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="imu"/>
</joint>
<link name="imu"/>
<joint name="wheelodom" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<child link="wheelodom"/>
<parent link="base_link"/>
</joint>
<link name="wheelodom"/>
</robot>
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