brigit's profile - activity

I am working on a ROS node which subscribes to /camera/depth_registered/points and convert in to a pcl::PointCloud<pcl::pointxyzrgb>. From there, I explicitly set the rgb values of each point (using the rgb unpacking method) in the cloud, convert the pcl::PointCloud to a ROS sensor_message::PointCloud2 (using pcl::toROSMsg(..)) and then publish the point cloud with different colors. For testing, I initially set all pixels to be green.

My problem is that I don't see a green point cloud...I only see the original scene rgb values. rviz has a color transformer for PointCloud2 which I select 'rgb8' for (this shows original scene rgb values). I've tried the other options but I'll either get a grayscale version of the scene ('intensity') or a rainbow version ('axisColor') or plain white ('flatColor').

I really need to change these rgb values for visualization purposes; can anyone suggest what I might be doing wrong (or how to fix it)?

thanks! brigit

I want to be able to create a static costmap which contains a set of semantic labels for objects of different kinds (eg. chairs, tables, etc.). Currently, I have a pgm image which has a unique integer value for each object type in each pixel which maps to the static map I have for my robot's environment. In fact, to make this, I exported the robot's environment map using map_server map_saver and inserted the object labels.

These object labels will never change and I want to be to identify objects using this map, for example, to be able to say , "my robot is 1 m away from a door" and display this in rviz. Is it possible to do this just using map_server and have rviz subscribe to a Map topic interpreted as a costmap layer? So far when I publish my custom map described above, the output is wrong (doesn't even look like a regular static map).

For a seemingly simple task, it seems like writing a custom costmap_2d layer in C++ is overkill.

I have a single pointcloud of the interior of a building with corresponding RGB pixel values that was, saved as PLY format. I would like to use this as the base map in my .db file at startup. Is this possible with some hacking? I know the maps are exportable as PCD files from rtabmap, so I was hoping I could reverse the process.