harsha's profile - activity

Thank you, @Jakub, for sharing this! :)

Was the kinect connected to a USB 3.0?

That's right. I would lose all the changes I made when I update the package. I'll remember that. Thanks for letting me know about rosws. I'll use it and let you know how it goes. I appreciate your help.

Thanks for the reply. I understand using rosws is better. I changed the permissions of the pcl_ros package from root to user and tried to build. Should've mentioned it earlier. The errors are as mentioned here

When I try to build pcl_ros after uncommenting the lines for features and segmentation, the build fails.

Hi Joq. I looked into /opt/ros/fuerte/stacks/perception_pcl/pcl_ros/lib. They are not present in the directory. The libraries available are libgtest.a libgtest_main.a libpcl_ros_filters.so libpcl_ros_io.so libpcl_ros_tests.so libpcl_ros_tf.so.

Hi @CaptainTrunky. I have the same problem. Were you able to fix this issue? I have posted a new question here. It would be great if you could let me know how to fix this. Thank you.

It would be great if you could share with us if you faced these issues and how you fixed them. Thank you.

Hi everyone,

I started using fuerte on 12.04 and face this problem while migrating code from electric on 10.04. When I try to launch nodelets of type pcl/NormalEstimation and pcl/SACSegmentationFromNormals, I get errors saying libpcl_ros_features.so and libpcl_ros_segmentation.so cannot be found. I wasn't able to find these shared objects at /opt/ros/fuerte/stacks/perception_pcl/pcl_ros/lib/.

[ERROR] [1352391653.634193667]: Failed to load nodelet [/normal_estimation] of type [pcl/NormalEstimation]: Failed to load library /opt/ros/fuerte/stacks/perception_pcl/pcl_ros/lib/libpcl_ros_features.so. Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Cannot load library: /opt/ros/fuerte/stacks/perception_pcl/pcl_ros/lib/libpcl_ros_features.so: cannot open shared object file: No such file or directory

[ERROR] [1352391655.206178336]: Failed to load nodelet [/cylinder_segmentation] of type [pcl/SACSegmentationFromNormals]: Failed to load library /opt/ros/fuerte/stacks/perception_pcl/pcl_ros/lib/libpcl_ros_segmentation.so. Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Cannot load library: /opt/ros/fuerte/stacks/perception_pcl/pcl_ros/lib/libpcl_ros_segmentation.so: cannot open shared object file: No such file or directory

I looked up ROS answers and found the first comment for this answer pointed the issue and the fix. Following that, I uncommented the lines corresponding to features, surface and segmentation in the CMakeLists for pcl_ros package. When I rosmake the package after these changes I get errors, with respect to the setSearchMethod in pcl. The fix mentioned here worked for my other packages. But not here. I get this error as mentioned in this question.

There is a ticket regarding this bug, here.

Any help on fixing this issue is much appreciated.

Thank you, Harsha

Thank you @CaptainTrunky! This helped me find the issue with shared objects for features and segmentation. But I get errors when I rosmake pcl_ros after these changes. I have posted a new question - http://answers.ros.org/question/47814/ros-fuerte-pcl-features-surface-and-segmentation-libraries/

Please look into the documentation of sensor_msgs::PointCloud2 (http://ros.org/doc/api/sensor_msgs/html/msg/PointCloud2.html) and you can use the field "data" to access z values.

Possible duplicate of this question (http://answers.ros.org/question/11556/datatype-to-access-pointcloud2/)

Thank you, @Poseidonius! This is really helpful.

Did you try rostopic info and rostopic echo to find out if there are any nodes publishing on that topic and what is being published?

Thanks for the clear explanation.

In the PointCloud2 display we can use the topic /camera/depth_registered/points and select RGB8 from the Color Transformer pulldown options.

Thanks for helping get rid of the annoying error messages.

Like joq said, you don't have to worry about the error message regarding the calibration file.

I had the same problem of "Tried to advertise a service that is already advertised in this node". A solution can be found here. The second answer explains the reason behind this error message and how to get rid of it.

Hi,

I'm using ROS electric in Ubuntu 10.04. I'm trying to filter points of a known collision_object (a box, not attached to the robot) from the point cloud output of kinect, so that I can build a collision map free of the object to manipulate it. I'm using the filter_attached_objects node from the planning_environment package. The following is a part of my launch file:

<!-- attached_object filter point clouds -->
  <node pkg="planning_environment" type="filter_attached_objects" name="filter_attached_objects_sls" output="screen">
    <remap from="cloud_in" to="/camera/depth/points_SelfFilter" />
    <remap from="cloud_out" to="/camera/depth/points_KnownObjectsFiltered" />
    <param name="sensor_frame" type="string" value="camera_depth_optical_frame" />
  </node>

And collision objects are published in the topic /collision_object.

rostopic info /collision_object
Type: arm_navigation_msgs/CollisionObject

Publishers: 
 * /box (http://cable:60904/)

Subscribers: 
 * /filter_attached_objects_sls (http://cable:52946/)
 * /environment_server (http://cable:60952/)

rostopic echo /collision_object
header: 
  seq: 0
  stamp: 
    secs: 0
    nsecs: 0
  frame_id: /camera_depth_optical_frame
id: Box_2
padding: 0.0
operation: 
  operation: 0
shapes: 
  - 
    type: 1
    dimensions: [0.35600000619888306, 0.21600000560283661, 0.26399999856948853]
    triangles: []
    vertices: []
poses: 
  - 
    position: 
      x: -0.223451972008
      y: 0.0241708215326
      z: 1.2832916975
    orientation: 
      x: -0.804724097252
      y: -0.336898833513
      z: -0.330028921366
      w: 0.360554099083

The box is visible on rviz as part of the visualization_marker_array published by ros::Publisher vis_marker_array_publisher_ in the filter_attached_objects node.

The problem is that the output point cloud from the node still contains the points that belong to the box.

I recently started using ROS and I might be missing something fairly simple here. Please let me know how to go about working this out.

edit: After looking into the solution for link this question, I tried using set_planning_scene_diff. But the collision object is still visible in the point cloud.

Thanks, Harsha