mkreddy477's profile - activity

I am trying to customize Imageproc node to add a time stamp on each input frame. The output from mono was perfectly fine. The Image from mono has time stamp on it.

But the RectifyNodelet was not able to subscribe to It. I have converted raw_msg to a cv::Mat and the used putText for stamping arrival time on it. Then converted the same to sensors:msg using CvImage().toImageMsg

Could anybody please let me know what might be the reason.

Dear All,

Anybody had an idea about thread scheduling in ROS? Suppose I have a node which spawns multiple threads. How ROS handle scheduling of these user defined threads? Can anybody spread some light on these topics.

Thanks in advance Murali krishna

Hello, I am trying to load a nodelet multiple times. But the node is getting crashed once the second instance of the node let started executing.

Below snippet describes the way I am loading the nodelet.

std::string name = ros::this_node::getName() + "instance1";
my_argv.push_back("instance1");
my_argv.push_back("0");
my_argv.push_back("10");
manager.load(name, "myNodelet/exNodelet", remappings, my_argv);


my_argv.clear();
my_argv.push_back("instance2");
my_argv.push_back("0");
my_argv.push_back("10");
name = ros::this_node::getName() + "instance2";
manager.load(disparity_name, "myNodelet/exNodelet", remappings, my_argv);


my_argv.clear();
my_argv.push_back("instance3);
my_argv.push_back("11");
my_argv.push_back("10");
name = ros::this_node::getName() + "instance3";
manager.load(name, "myNodelet/exNodelet", remappings, my_argv);

Can anyone give any clue on why the second instance(not instance2. If I launch instance2 first then it will run perfect. The instance, launched 2nd getting crashed.) getting crashed.

Note: I am using OpenCV library in my nodelet.

Edit: I have debugged the problem further. I have noticed, when I commented OpenCV call the nodelet is launched perfectly in the second instance.

Please have a look at the gdb trace below

#0 0x00007f81913e3525 in ?? () from /opt/ros/kinetic/lib/libopencv_calib3d3.so.3.1 #1 0x00007f81913e3cd7 in ?? () from /opt/ros/kinetic/lib/libopencv_calib3d3.so.3.1 #2 0x00007f81913e679f in ?? () from /opt/ros/kinetic/lib/libopencv_calib3d3.so.3.1 #3 0x00007f81ec556cb7 in stereo_vision::stereoReconstruct::process (this=0xff9960, l_image_msg=..., l_info_msg=..., r_image_msg=..., r_info_msg=...) at /home/swahana/Murali/catkin_ws_nodelets/src/stereo_vision/src/nodelet/stereoReconstruct.cpp:271 #4 0x00007f81ec56f606 in boost::function9<void, boost::shared_ptr<sensor_msgs::image_<std::allocator<void=""> > const> const&, boost::shared_ptr<sensor_msgs::camerainfo_<std::allocator<void> > const> const&, boost::shared_ptr<sensor_msgs::image_<std::allocator<void> > const> const&, boost::shared_ptr<sensor_msgs::camerainfo_<std::allocator<void> > const> const&, boost::shared_ptr<message_filters::nulltype const=""> const&, boost::shared_ptr<message_filters::nulltype const=""> const&, boost::shared_ptr<message_filters::nulltype const=""> const&, boost::shared_ptr<message_filters::nulltype const=""> const&, boost::shared_ptr<message_filters::nulltype const=""> const&>::operator() (a8=..., a7=..., a6=..., a5=..., a4=..., a3=..., a2=..., a1=..., a0=..., this=<optimized out="">) at /usr/include/boost/function/function_template.hpp:773

Thanks in advance

Hello,

If I launch 2 instances of a nodelet what will be the impact on the performance. Let's say the single instance of the nodelet was running at 30Hz. what will happen if multiple instances of the same nodlet was launched through a manager. I have observed a considerable amount of performance drop in the performance when two or more instances of nodelet was launched.

Please clarify me. If there is any performance issue how can I resolve the same.? Is there a way to affinitise the each instance of the nodelet to a specific core.?

Thanks in advance

Dear all,

I have implemented stereo_image_proc with customized algorithms. Now I am trying to measure the latency in the pipeline.

I have observed that each nodelet has inconsistency latency ranging form 0 to 60ms. I have measured the latency as follows Ros_latency = (nodelet1_publishing_time - nodelet2_subscribing_time)

How can I minimize these delays so that making the whole system consistent.

Thanks in advance

Deducing camera_info from cameraMatrix and distortionCoff Hello All, I have camera matrix and distortion coefficient ma

Deducing camera_info from cameraMatrix and distortionCoff Hello All, I have camera matrix and distortion coefficient ma

Thanks for the clarification

Thread Scheduling in ROS Dear All, Anybody had an idea about thread scheduling in ROS? Suppose I have a node which spaw

Performance of the stereo reconstruction in ROS Dear all, I have done a performance test of stereoBm algorithm. In fir

Performance of the stereo reconstruction in ROS Dear all, I have done a performance test of stereoBm algorithm. In fir

Performance of the stereo reconstruction in ROS Dear all, I have done a performance test of stereoBm algorithm. In fir

Processing time differs when used ros topic as input for disparity computation Hello All, I have observed performance d

Processing time differs when used ros topic as input for disparity computation Hello All, I have observed performance d

Help me in understanding ros::CallbackQueue Hello, I am trying to understand how the ros::CallbackQueue is working in RO

Processing time differs when used ros topic as input for disparity computation Hello All, I have observed performance d

I was able to solve the issue to some extent by using ros::MultiThreadedSpinner

I have tried using the multi-threaded nodelet API which is also has the same behaviour. I also tried passing (true) to t

I have tried using the multi-threaded nodelet API which is also has the same behaviour. I also tried passing (true) to t

Linking error with opencv3 Dear all, I am facing a linker issue while running an application which was built on the ros-

I have enough CPU resources to do the processing. Is there a way to affinities each instance to a seperate CPU core? I