g.bardaro's profile - activity

Hi everyone,

I am setting up a navigation2 launch file.

I have used this one as a reference, and everything seems to work.

However, I need to remap the /cmd_vel topic. I am not sure what is the syntax to do so in a top-level launch file to have it propagated to a nested launch file.

Thanks for the help

ros1_bridge extremely slow when passing images Hello everyone, I am using ros1_bridge to convert image messages coming

How to remap topic in a ROS2 launch file? Hi everyone, I am setting up a navigation2 launch file. I have used this one

It is not clear from your description, but I assume you are talking about a situation where multiple nodes are publishin

It is not clear from your description, but I assume you are talking about a situation where multiple nodes are publishin

Of course! Thanks a lot!

Hi all, I am having some issues with message filters, but I am not sure if I am doing something wrong or if there is a bug somewhere.

After some difficulties, I decided to implement a couple of minimal examples to describe the problem.

So, the toy example is very simple, I have a publisher node that publishes on two topics (topic1 and topic2) a custom-defined IntStamped message. They have exactly the same timestamp, so there are no issues in the generated messages.

Then, I have implemented two C++ nodes using message_filters, the first one wraps everything in a class, while the second doesn't.

Here are the nodes.

Whit the classes:

#include "message_filters/subscriber.h"
#include "message_filters/time_synchronizer.h"
#include "boundingbox_msg/msg/int_stamped.hpp"

using namespace  message_filters;

using std::placeholders::_1;
using std::placeholders::_2;

class MinimalSyncClass : public rclcpp::Node {
public:
    MinimalSyncClass() : Node("minimal_sync_class") {
        Subscriber<boundingbox_msg::msg::IntStamped> sub1(this, "topic1");
        Subscriber<boundingbox_msg::msg::IntStamped> sub2(this, "topic2");
        TimeSynchronizer<boundingbox_msg::msg::IntStamped, boundingbox_msg::msg::IntStamped> sync(
                sub1,
                sub2,
                10);
        sync.registerCallback(std::bind(&MinimalSyncClass::callback, this,
                                        std::placeholders::_1,
                                        std::placeholders::_2));
        RCLCPP_INFO_STREAM(this->get_logger(), "Init complete");
    }
private:
    void callback(
            const boundingbox_msg::msg::IntStamped::ConstSharedPtr& msg1,
            const boundingbox_msg::msg::IntStamped::ConstSharedPtr& msg2) const {
        RCLCPP_INFO_STREAM(this->get_logger(), "Result: "<<msg1->value + msg2->value );
    }
};


int main(int argc, char *argv[]) {
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<MinimalSyncClass>());
    rclcpp::shutdown();
    return 0;
}

And this one without the class:

#include "message_filters/subscriber.h"
#include "message_filters/time_synchronizer.h"
#include "boundingbox_msg/msg/int_stamped.hpp"

using namespace  message_filters;

using std::placeholders::_1;
using std::placeholders::_2;

void callback(
        const boundingbox_msg::msg::IntStamped::ConstSharedPtr& msg1,
        const boundingbox_msg::msg::IntStamped::ConstSharedPtr& msg2) {
    RCLCPP_INFO_STREAM(rclcpp::get_logger("minimal_sync"), "Result: "<<msg1->value + msg2->value );
}

int main(int argc, char** argv)
{
    rclcpp::init(argc, argv);
    auto nh = std::make_shared<rclcpp::Node>("minimal_sync");
    Subscriber<boundingbox_msg::msg::IntStamped> sub1(nh.get(), "topic1");
    Subscriber<boundingbox_msg::msg::IntStamped> sub2(nh.get(), "topic2");
    TimeSynchronizer<
            boundingbox_msg::msg::IntStamped,
            boundingbox_msg::msg::IntStamped> sync(sub1, sub2, 10);
    sync.registerCallback(std::bind(&callback, _1, _2));
    RCLCPP_INFO(rclcpp::get_logger("minimal_sync"), "Init" );
    rclcpp::spin(nh);
    return 0;
}

If I run all the three nodes together, this is the result in rqt_graph:

As you can see, the one without the class is connected to the topics and it is working properly, while the other with the class it's completely disconnected.

I am honestly lost, and can't figure out where the problem is.

message_filters in C++ not subscribing to topics when implemented in a class Hi all, I am having some issues with messag

EDIT:

Apparently the problem is not about visualisation or rviz. I tried to implement a minimal subscriber that receives point cloud messages and just print a notification and it doesn't work. The callback is never called. However, if I use ros2 echo I can subscribe and receive messages. I can confirm that the nodes are connected in the graph, so it is not a topic name issue.

Am I missing something?

END EDIT

Hi all,

I am finally migrating from ROS1 to ROS2 and, currently, I am trying to implement nodes to process depth images and point clouds.

I have a node that reads depth images from a folder and publishes them as messages paired with the corresponding camera calibration message. These depth messages are feed to depth_image_proc::PointCloudXyzNode, which correctly publish them as point clouds.

This is the output I get from echoing the topic:

header:
  stamp:
    sec: 1611675769
    nanosec: 545850714
  frame_id: camera_depth_optical_frame
height: 480
width: 640
fields: '<sequence type: sensor_msgs/msg/PointField, length: 3>'
is_bigendian: false
point_step: 16
row_step: 10240
data: '<sequence type: uint8, length: 4915200>'
is_dense: false

From here the message seems fine and well-formed. However, when I try to see in rviz2 I get nothing. At first I thought it was a problem with tf, so I tried to publish a dummy transformation between map and camera_depth_optical_frame, but nothing appears.

This is what I get in rviz2:

No matter what it keeps saying: "Showing [0] points from [0] messages"

Any idea of what could be the problem?

To expand on the solution provided in the previous answer. depth_image_proc::PointCloudXyzNode publisher has a "sensor

Sorry, I answered your comment saying that this change did nothing, but this is actually the solution. I was in a rush a

PointCloud2 visualisation in rviz2 EDIT: Apparently the problem is not about visualisation or rviz. I tried to implemen

PointCloud2 visualisation in rviz2 Hi all, I am finally migrating from ROS1 to ROS2 and, currently, I am trying to impl

PointCloud2 visualisation in rviz2 Hi all, I am finally migrating from ROS1 to ROS2 and, currently, I am trying to impl

PointCloud2 visualisation in rviz2 Hi all, I am finally migrating from ROS1 to ROS2 and, currently, I am trying to impl

tf2 problem with move_base plugin Hi all, I implemented a local planner for move_base using pluginlib. It was working f

Hello, What I want to do is something similar to a raycast. From a specific position draw a line and get the list of all the free cells in that line. The line has a maximum length, but it has to stop if it reach an obstacle. Is there an existing API for that? Or I need to implement it myself?

Thanks!