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2020-09-01 20:59:51 -0500 received badge  Student (source)
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2019-03-01 12:37:38 -0500 marked best answer Issues with prosilica camera connected through router

I'm testing a Prosilica GT1290C camera with a Pioneer 3AT robot, connected through a router to it. The robot has Ubuntu 14.04 with ROS Indigo and all the packages needed to operate the camera installed. After creating the workspace and the launch file to run the camera, I run the file. Up to this point there are no apparent issues, save for two warnings:

[ WARN] [1516390051.841257070]: Detected max data rate is 12400000 bytes/s, typical maximum data rate for GigE port is 115000000 bytes/s. Are you using a GigE network card and cable?

and

[ WARN] [1516390055.911854963]: Reconfigure callback failed with exception Couldn't set horizontal binning: Attribute value is out of the expected range:

Then I try to see the images with image_view, but all I get is a blank screen:

image description

yet with Vimba Viewer it works fine:

image description

Then, I tried connecting the camera directly in the robot and run the exact same launch file (no changes at all) and this happens:

image description

No warnings and image_view can show the images without issue.

Note that the nodes used were those provided with the package prosilica_camera. Any idea why does that happen or what is causing it?

The launch file:

<!--
Starts a PR2 Prosilica camera in streaming mode.
This file exists mainly for backwards compatibility.
-->
<launch>
   <node name="prosilica_driver" pkg="prosilica_camera" type="prosilica_node" output="screen">
      <param name="ip_address" type="str" value="192.168.3.103"/>
      <param name="trigger_mode" type="str" value="streaming"/>
      <remap from="camera" to="prosilica" />
   </node>
</launch>
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2019-01-10 15:17:38 -0500 marked best answer How to record robot odometry in multiple bagfiles after resetting the robot's computer without resetting its odometry and timestamps?

I'm running the nodes rosaria, rosaria_client , hokuyo node and avt_vimba camera to record some datasets of routes around campus roads with rosbag in a Pioneer 3AT robot. The robot runs Ubuntu 14.04 with kernel 4.4.0 and ROS Indigo.

I have managed to record 3 out of 5 datasets without much trouble. However, the last 2 are giving me trouble as the robot's power runs out before finishing them due to the routes being too long. Initially, I thought the batteries were defective, and while that was the case, after changing the batteries, the robot's power still runs out before it can finish any of the routes left.

The solution my teacher and I came with was to record the datasets in multiple files. However, that would require to save a bagfile until the robot's power is about to run out, shut down the robot, change its batteries for some spares (we have them) and restart the recording from the spot the robot stopped, and that will invariably reset the odometry and timestamps of the recorded messages. Is there a way to resume that recording while keeping the last recorded odometry and timestamps? If so, how? If not, then is there a workaround?

2019-01-10 15:16:25 -0500 commented answer How to record robot odometry in multiple bagfiles after resetting the robot's computer without resetting its odometry and timestamps?

Hi ReedHedges, it may be a little late but the first point in your answer worked but it also was related with your 3rd p

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2018-10-04 13:27:51 -0500 answered a question Issues compiling node when using orocos-bfl

Found the problem. Looks like OpenCV clashes with BFL. The moment I eliminated all references to OpenCV, the code compil

2018-09-27 00:20:44 -0500 edited question Issues compiling node when using orocos-bfl

Issues compiling node when using orocos-bfl I'm trying to build a particle filter node to acquire the true vanish point

2018-09-27 00:19:53 -0500 edited question Issues compiling node when using orocos-bfl

Issues compiling node when using orocos-bfl I'm trying to build a particle filter node to acquire the true vanish point

2018-09-27 00:16:18 -0500 edited question Issues compiling node when using orocos-bfl

Issues compiling node when using orocos-bfl I'm trying to build a particle filter node to acquire the true vanish point

2018-09-27 00:13:57 -0500 edited question Issues compiling node when using orocos-bfl

Issues compiling node when using orocos-bfl I'm trying to build a particle filter node to acquire the true vanish point

2018-09-27 00:10:03 -0500 edited question Issues compiling node when using orocos-bfl

Issues compiling node when using orocos-bfl I'm trying to build a particle filter node to acquire the true vanish point

2018-09-27 00:08:52 -0500 asked a question Issues compiling node when using orocos-bfl

Issues compiling node when using orocos-bfl I'm trying to build a particle filter node to acquire the true vanish point

2018-09-26 23:58:47 -0500 asked a question Internal server error in ros answers

Internal server error in ros answers I'm trying to make a question about issues compiling a ros node when using orocos-b

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2018-08-29 13:16:09 -0500 asked a question How to record robot odometry in multiple bagfiles after resetting the robot's computer without resetting its odometry and timestamps?

How to record robot odometry in multiple bagfiles after resetting the robot's computer without resetting its odometry an

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2018-08-09 18:20:46 -0500 commented answer Configuring laser_filters parameters

No, It doesn't appear. Only the base Laser node appears, and the parameters that can be configured don't help me at all.

2018-08-09 18:19:41 -0500 marked best answer Question about sending parameters from remote Android device to ROS

I'm developing an APK to send a number of parameters (integers and floats) to a ROS application through rosbridge. However I'm stumped at how to proceed. The parameters are to be used by particular nodes to do some operations with images. My question is, is it possible to send those parameters directly to the node or do I have to publish those parameters in an intermediary topic to then subscribe the nodes I already have to the appropriate parameter topics?

2018-08-09 18:19:39 -0500 commented answer Question about sending parameters from remote Android device to ROS

The second option was the one I used and it worked fine. Thanks for your help IanCol

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2018-08-09 18:17:30 -0500 commented answer Time Synchronizer (message_filters) with Custom Message type

That didn't solve it for me...My custom message has the Header and I still get that leghty error message from the questi

2018-05-07 10:49:55 -0500 commented answer Configuring laser_filters parameters

No, It doesn't appear. Only the base Laser node appears, and the parameters that can be configured don't help me at all.

2018-05-03 11:16:21 -0500 commented answer Configuring laser_filters parameters

dynamic_reconfigure won't let me configure the laser_filter node...

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2018-03-20 17:39:29 -0500 marked best answer Configuring laser_filters parameters

I want to use the LaserScanRangeFilter plugin of the laser_filters package, but I need to configure its parameters dynamically as I have to send the upper and lower thresholds from a remote device. My question is, how can I modify those parameters automatically? Is it possible to modify the .YAML file used to set the plugin up through C++ or Python nodes? Or do I have to write every parameter in the .launch file manually (and if so how could I write the tags corresponding to the actual plugin parameters)?

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2018-03-14 10:42:06 -0500 commented question Configuring laser_filters parameters

Device is a samsung tablet with android communicating with ROS through rosbridge. I only need to change parameters each

2018-03-13 13:14:31 -0500 asked a question Configuring laser_filters parameters

Configuring laser_filters parameters I want to use the LaserScanRangeFilter plugin of the laser_filters package, but I n

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2018-02-28 09:28:13 -0500 marked best answer Image publisher node publishes empty header

I am trying to make a node that can both capture omnidirectional images to unwrap them and subsequently publish the resulting image in a new topic. As of now, the capturing of images for unwrapping works correctly (as I also save the resulting images in the robot's computer and they look as they should), but attempting to publish that result nets me a black rectangle where the unwrapped image should be.

The code of the node:

#include <opencv2/opencv.hpp>
#include <vector>
#include <string>
#include <sstream>
#include <cmath>
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>

double pi = 3.1415926535897932384626433832795;
int radius, valix, valiy, newx, newy;
double angular;
long numimage = 0;
std::string imcamino, nomfile;
std::ostringstream ss;
int interad = 229;
int exterad = 917;
int centerx = 613;
int centery = 490;

//Width and Height of the panoramic image
int widthdx = int(exterad*pi*2);
int heightdx = int(exterad - interad + 1);
cv::Mat image;
cv::Mat imdx(heightdx-1, widthdx-1, CV_8UC1); //Matrix to hold new image
cv_bridge::CvImageConstPtr imbuff; //Image buffer for ROS-OpenCV image conversion


void imageCallback(const sensor_msgs::ImageConstPtr& msg){ //Callback function to process and save panoramic images
    try{
        imbuff = cv_bridge::toCvCopy(msg, "mono8"); //Transforms ROS image to OpenCV image
    }
    catch(cv_bridge::Exception& e){
        ROS_ERROR("Could not convert from '%s' to 'mono8'.", msg->encoding.c_str()); //Error should the conversion fail
    }

    //Transform Omnidirectional image into a panoramic image
    for(valix = 0;valix < widthdx-1;valix++){
    angular = (valix*pi*2)/widthdx;
    for(valiy = 0;valiy < heightdx-1;valiy++){
        radius = int(interad + (heightdx - valiy));
        newx = int((radius*cos(angular)/2) + centerx);
        newy = int((radius*sin(angular)/2) + centery);
        imdx.at<uint8_t>(valiy,valix) = cv::Mat(imbuff->image).at<uint8_t>(newy,newx);
    }
    }
    //Save parameters
    cv::vector<int> compression_params;
    compression_params.push_back(CV_IMWRITE_JPEG_QUALITY);
    compression_params.push_back(100);
    //String for the filename
    ss << numimage;
    nomfile = ss.str();
    imcamino = "/home/p3at/datasetjorge/";
    imcamino += nomfile;
    imcamino += ".jpg";
    cv::imwrite(imcamino, imdx, compression_params); //Save image in the previously specified filepath
    numimage++;
    ss.str("");
    ss.clear();
}

int main(int argc, char **argv){
    ros::init(argc,argv,"image_storer");
    ros::NodeHandle nh;
    image_transport::ImageTransport it(nh);
    image_transport::Subscriber sub = it.subscribe("/image_raw", 1, imageCallback);
    image_transport::Publisher pub = it.advertise("/image_dewrapped", 1);
    sensor_msgs::ImagePtr msgf = cv_bridge::CvImage(std_msgs::Header(), "mono8", imdx).toImageMsg(); //Transforms OpenCV image to ROS Image Message
    while(nh.ok()){
        pub.publish(msgf); //Publish Image message in topic /image_dewrapped P.S.:Does not work properly
    }
    ros::spin();
}

the resulting "image" seen in image view:

image description

Any help to being able to view the unwrapped image?

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2018-02-27 14:15:17 -0500 asked a question Question about sending parameters from remote Android device to ROS

Question about sending parameters from remote Android device to ROS I'm developing an APK to send a number of parameters

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2018-02-10 10:56:43 -0500 commented answer Image publisher node publishes empty header

Thank you so much. Your suggestion worked perfectly

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2018-02-08 09:49:16 -0500 commented answer Issues with prosilica camera connected through router

I think so too, but I believe a true solution isn't within ROS. The router provided does not support Jumbo Packets.