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ROS viso2 visual odometry package outcome inaccurate Hi Im feeding ROS visual odometry package with pre recorded data. Data is 500 pair of synced 1024*768 bumblebee2 output image( also tested other setting as well). Ive using opencv to get u,v and focus length. baseline is provided. they are all correct setting

However the output of the RT matrix was quite inaccurate. during the rotation period, track is lost entirely.

what else I could do to improve the result. Or what should I do?

By the way, the test image sample provide by libviso2 was great.

could be using namespace issue. Did you build your opencv directly with ROS in the CMAKE? I experience something similiar before for error: undefined reference with openc v+ ros to some 3rd partry library. It turns out opencv shares couple library with ros. say boost under cv::boost and there is another ros::boost. of course your system gets confused.

I think to solve this. One is to build opencv not with ROS. So when you use it remember not to use using namespace cv; but use every function as cv::boost..... If above not working just remove opencv and compile without ROS and try it again

I got an error when running AMCL based navigation. It runs in loop asked me to give transformation from /map to /base_link. I believe that should be given by AMCL right? I see through the previous solution on the ROS_answers. Non of the previous suggestion helps solve the problem

here Im not running on actual robot. Just using laser to do localization by giving a fake odom. All I need to see is the correct planed path and correct cmd_vel. Im going to runn this node on quadcopter. So I don`t have a odom

My launch file consist of standard configuration in ROS_NAVIGATION tutorial.

hokuyo_node

laser_scan_matcher

tf base_link to laser

tf base_link to odom
So I set odom frame always correct and it is precisely at base_link.

map server

AMCL here I set odom frame to be base_link or world

move_base and rviz

the move_base and all other node works when using together with Gmapping node. But it is too much computational power for small uav system to handle. Only difference is I replaced the Gmapping with the map server and AMCL

tf in the rviz shows /laser /base_link /odom is shown But /map and /world is missing

Ok it`s the timing problem. roswtf gives WARNING Received out-of-date/future transforms: * receiving transform from [/laser_scan_matcher_node] that differed from ROS time by 16.823852148s

Just tested. Ok there are something appears on the screen now. Looks like a map but it`s not published well. there is an error

1. I can see scan and shift on rviz for different frame on all of my computers. Means wireless network is function fine. Scan and shift of tf can be observed. But only Gmapping is not running. suspect is the 2nd problem you were mentioning

Laser are published across the network correctly. rostopic info shows scan and tf are being subscribed correctly by matcher and gmapping. I double checked the scan matcher Pose2D is generated correctly. Only Gmapping is not running. No matter is in launch or rosrun. it hangs there

I echoed map. Nothing comes out. But if I move the laser. I can see the frame shift in RVIZ . what could be the tf problem ? the same launch file works fine when using with hokuyo node on one PC

I`m running one ground processing PC called snake. and another computer on Robot call UAV. Communication works fine. I can run hokuyo node on UAV and see the data on the data by using rostopic echo in PC snake

Problem is when I launch the laser scan matcher and Gmapping using launch file on PC snake. I can see laser on RVIZ by selecing /laser frame. but I can`t see the map at all.
After connect laser to PC snake and run hokuyo and mapping launchfile. It works fine

my launch file is <launch> <machine name="snake" address="snake" user="snake" password="snake" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)" default="false"/>

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen"> </node>

<node pkg="tf" type="static_transform_publisher" name="laser_link" args="0.25 0.0 0.68 0.0 0.0 0.0 /base_link /laser 40"/> <node pkg="tf" type="static_transform_publisher" name="Base_odom_link" args="0 0.0 0 0.0 0.0 0.0 /base_link /odom 40"/>
<node pkg="gmapping" type="slam_gmapping" name="gmapping" output="screen">
</node> <node name="rviz" pkg="rviz" type="rviz"/> </launch>

And there is no error at all but

MessageFilter says that MessageFilter : Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

the map doesn`t comes out

any idea why?

try rosrun openni_camera openni_node and then see it in RVIZ with reference frame to openni frame

I know this should be possible but at the point of using AMCL. I don`t know what to do as AMCL does not have a tutorial with no known map. Right now in the robot configuration.launch

<launch>

<node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node" output="screen"> </node>

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen"> </node>

<node pkg="tf" type="static_transform_publisher" name="laser_link" args="0.0 0.0 0.10 0.0 0.0 0.0 /base_link /laser 40"/>

<node pkg="gmapping" type="slam_gmapping" name="gmapping" output="screen" >="" <param="" name="odom_frame" value="/world"/> </node>

</launch>

**A map generated, and current laser scan data can be seen in the rviz. Then I follows navigation tutorial to write configuration for navigation stack

the other yaml file are all the same except that at global_costmap_params.yaml static_map is set to false

amcl_diff.launch is similiar to the one found in drh-robotics-ros - Revision 108: /trunk/ros/ardros/launch

But I got problem for the last part move_base.launch map server is need to run navigation stack which operates on the known map

This part specific ask a known map for processing where as I need it to use the /map generated by slam_gmapping. And I`ll need it to be real time.

I know I have to change <node name="map_server" pkg="map_server" type="map_server" args="$(find my_map_package)/my_map.pgm my_map_resolution"/> to a real time map generated by slam_gmapping. But I dont know how to do it as there wasnt much info out of here amcl/Tutorials

Does any one knows how to do it? How to modify the last move_base.launch to read real time map data?

@ThomasK Im also using camera a bit tilted down, outdoor in the school scene. Ok I understand what you said. Ill set different value and give it a try again.

@dejanpan Reply to dejanpan I tried to contact him. But Andreas give a lot of language I don`t understand

Reply to dejanpan I tried to contact him. But Andreas give a lot of language I don`t understand