Akitoshi's profile - activity

Hello. I think that it is pretty rudimentary, but I will ask you a question because I can not solve it by trial and error. I am writing a program that outputs colored point clouds. So, I wrote the program as below, but on rviz a white point clouds is output. I changed the rgb value to various values, but there was no change. What should I do? Thank you.

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;

int main(int argc, char** argv)
{
    ros::init (argc, argv, "pub_pcl");
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);

    ros::Rate loop_rate(1);
    while (nh.ok())
    {
        PointCloud::Ptr msg (new PointCloud);
        msg->header.frame_id = "/my_frame";
        pcl_conversions::toPCL(ros::Time::now(), msg->header.stamp);
        msg->height = 480;
        msg->width = 640;
        msg->points.resize(480*640);


        for(int n=0; n<480; ++n) {
            for(int m=0; m<640; ++m) {
                msg->points[n*480+m].x = 1.0;
                msg->points[n*480+m].y = 0.01*(m-320);
                msg->points[n*480+m].z = 0.01*n;
                msg->points[n*480+m].r = 200;
                msg->points[n*480+m].g = 0;
                msg->points[n*480+m].b = 0;
                msg->points.push_back (msg->points[n*480+m]);
            }
        }

        pcl_conversions::toPCL(ros::Time::now(), msg->header.stamp);
        pub.publish (msg);
        ros::spinOnce ();
        loop_rate.sleep ();
    }
}

Hello. I would like to write a program that calls multiple subscribers periodically at the same time. Therefore, at the beginning, I wrote the program as shown in program1, but only rewritten main() like program2. In the program of program1, ros::spin() called three subscribers separately. So I decided to call them periodically using while. However, even in program2, they were called differently. Moreover, in program1, the publisher written in depthCb which was being executed also is not executed. How can I write the program to call multiple subscribers periodically at the same time? Thank you.

program1

#include <ros/ros.h>
...

void messageCallback(const sensor_msgs::JointState::ConstPtr& msg3)
{
   ...
}

void imageCb(const sensor_msgs::ImageConstPtr& msg2)
{
   ...
}

void depthCb( const sensor_msgs::ImageConstPtr& msg1)
{
   ...
   ros::Publisher pub = n.advertise<PointCloud> ("points2", 1);
   PointCloud::Ptr cloud (new PointCloud);
   cloud->header.frame_id = "/base";
   pcl_conversions::toPCL(ros::Time::now(), cloud->header.stamp);
   ...
   cloud->points.push_back (cloud->points[0]);
   pcl_conversions::toPCL(ros::Time::now(), cloud->header.stamp);
   pub.publish (cloud);
}

int main( int argc, char* argv[])
{
   ros::init( argc, argv, "depth_viewer" );
   ros::NodeHandle n;

   ros::Subscriber joint = n.subscribe("/hp3j/joint_states", 1000, messageCallback);
   ros::Subscriber color = n.subscribe("/pico_flexx_link_ir/image_raw", 1000, imageCb);
   ros::Subscriber depth = n.subscribe("/pico_flexx_link/depth_registered/image_raw", 3, &depthCb);

   ros::spin();
   return 0;
}

program2

int main(argc, char* argv[])
{
   ros::init( argc, argv, "depth_viewer" );
   ros::NodeHandle n;

   ros::Subscriber joint = n.subscribe("/hp3j/joint_states", 1000, messageCallback);
   ros::Subscriber color = n.subscribe("/pico_flexx_link_ir/image_raw", 1000, imageCb);
   ros::Subscriber depth = n.subscribe("/pico_flexx_link/depth_registered/image_raw", 3, &depthCb);

   ros::Rate loop_rate(0.1);
   while (ros::ok()) {
      ros::spinOnce();
      loop_rate.sleep();
   }

   return 0;
}

I'm using indigo on 14.04. Today, once again I tried running the same code, somehow the display on the left of the rviz

Thank @lucasw. As you say, I have duplicated every points. However, erasing this one line did not solve the problem.

Output of colored point clouds Hello. I think that it is pretty rudimentary, but I will ask you a question because I can

Thank @NEngelhard! As you said, adding using namespace message_filters; has solved it!

Thank @naveedhd for your early reply. In addition to the two data I would like to acquire the joint angle of the manipul

Thank @NEngelhard. I'm sorry for the late reply. As you say, I programmed while watching 4.2 Example (C ++) of wiki. How

Thank @naveedhd. I'm sorry for the late reply. I understood what I was misunderstanding as you said. However, neverthele

Call multiple subscriber periodically at the same time Hello. I would like to write a program that calls multiple subscr

@ahendrix I'm sorry, because I had a missing entry in http://answers.ros.org/question/267540/publisher-and-subscriber-in

Program combining publisher and subscriber Hello. I want to write publisher and subscriber in the same node. So I wrote

@jayess Ok, I will.

Thank @jayess. As you said pulisher was missing. The real program is as follows. In my program I subscribe depth values

publisher and subscriber in the same node Hello. I want to write publisher and subscriber in the same node. So I wrote t