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2013-07-03 07:54:50 -0500 commented answer Organizing point cloud from HDL-32E

Sorry for the long delay, but it could finaly organize the pointcloud and now I can segment and classify the point cloud in less than 0.2s ;)

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2013-04-03 12:13:20 -0500 answered a question Rosmake UWSim error - 1 package failed

Just got the same error by installing the velodyne trunk & updating my complete ROS :/

File "/opt/ros/groovy/share/roscpp/rosbuild/scripts/msg_gen.py", line 588, in write_traits gendeps_dict = roslib.gentools.get_dependencies(spec, spec.package, compute_files=False, rospack=rospack) TypeError: get_dependencies() got an unexpected keyword argument 'rospack'

Waiting for an answer with you ...

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2013-04-01 23:41:24 -0500 asked a question Organizing point cloud from HDL-32E

Hi there,

in order to accelerate the data processing on my HLD-32E I would like to organized the data. To this point, I could, under Octave, compute manually an point cloud. But I do actually have no idea how to implement it in C++ and the suggested functions, such as KDTree, don't seems to be fast enough for this task...

Is there somewhere a topic giving information about how to work with those Point clouds in ROS?

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2013-02-26 10:23:23 -0500 commented answer Frame id /base_link does not exist! when extracting .bag to .pcd

I guess the bag_to_pcd function is still not completely working for those situations, and pointcloud_to_pcd do pretty much the same but is working proprely ;)

2013-02-26 02:35:02 -0500 answered a question Frame id /base_link does not exist! when extracting .bag to .pcd

Thanks for your answer!

Sooo the bag file wasn't done by myself & the people who generated it are far far away ;)

So I ran the bag: rosbag play 2012-08-10-17-32-31.bag

And in an other terminal I displayed the list of the working topics:

rostopic list /clock /diagnostics /rosout /rosout_agg /septentrio/SbfAttCovEuler_1_0 /septentrio/SbfAttEuler_1_0 /septentrio/SbfBaseLine_1_0 /septentrio/SbfBaseVectorGeod_1_0 /septentrio/SbfDOP_2 /septentrio/SbfEndOfAtt_1_0 /septentrio/SbfEndOfPVT_1_0 /septentrio/SbfGeoCorrections_1_0 /septentrio/SbfPVTGeodetic_2_1 /septentrio/SbfPVTResiduals_2_1 /septentrio/SbfPosCovGeodetic_1_0 /septentrio/SbfPvtSatCartesian_1_0 /septentrio/SbfRAIMStatistics_2_0 /septentrio/SbfVelCovGeodetic_1_0 /tf /velodyne_nodelet_manager/bond /velodyne_packets /velodyne_points

Sooo everything looks fine

Then I did what is proposed in the question #33072: rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_points

And, magicaly, I became all the PCD file I needed! Thanks again for your answer!

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2013-02-26 00:26:00 -0500 asked a question Frame id /base_link does not exist! when extracting .bag to .pcd

Hello guys,

I'm pretty new on the ROS system and I'm having some trouble when trying to convert de pointcloud in the .bag file to an external .pcd file.

Soooo what I did is the following:

-Open a first terminal raphael@ubuntu:~/Link_to_HESB/Bachelor/low_freq$ roscore The location is where my .bag files are.

Then I opend a second terminal: raphael@ubuntu:~/Link_to_HESB/Bachelor/low_freq$ rosbag info 2012-08-10-17-32-31.bag

*path: 2012-08-10-17-32-31.bag version:
2.0 duration: 3:52s (232s) start: Aug 10 2012 22:32:31.20 (1344630751.20) end: Aug 10 2012 22:36:24.18 (1344630984.18) size: 4.8 GB messages: 9127 compression: none [2326/2326 chunks] types: bond/Status [eacc84bf5d65b6777d4c50f463dfb9c8] diagnostic_msgs/DiagnosticArray [3cfbeff055e708a24c3d946a5c8139cd] rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1] velodyne_msgs/VelodyneScan [50804fc9533a0e579e6322c04ae70566] topics: /diagnostics 232 msgs : diagnostic_msgs/DiagnosticArray /rosout 49 msgs : rosgraph_msgs/Log (4 connections) /septentrio/SbfAttCovEuler_1_0 233 msgs : std_msgs/String

        /septentrio/SbfAttEuler_1_0             233 msgs    : std_msgs/String       

        /septentrio/SbfBaseLine_1_0             233 msgs    : std_msgs/String       

        /septentrio/SbfBaseVectorGeod_1_0       233 msgs    : std_msgs/String       

        /septentrio/SbfDOP_2                  233 msgs    : std_msgs/String       

        /septentrio/SbfEndOfAtt_1_0             233 msgs    : std_msgs/String       

        /septentrio/SbfEndOfPVT_1_0             233 msgs    : std_msgs/String       

        /septentrio/SbfGeoCorrections_1_0       233 msgs    : std_msgs/String       

        /septentrio/SbfPVTGeodetic_2_1          233 msgs    : std_msgs/String       

        /septentrio/SbfPVTResiduals_2_1         233 msgs    : std_msgs/String       

        /septentrio/SbfPosCovGeodetic_1_0       233 msgs    : std_msgs/String       

        /septentrio/SbfPvtSatCartesian_1_0      233 msgs    : std_msgs/String       

        /septentrio/SbfRAIMStatistics_2_0       233 msgs    : std_msgs/String       

        /septentrio/SbfVelCovGeodetic_1_0       233 msgs    : std_msgs/String       

        /velodyne_nodelet_manager/bond          932 msgs    : bond/Status               (3 connections)
        /velodyne_packets                    2326 msgs    :    velodyne_msgs/VelodyneScan     
        /velodyne_points                     2326 msgs    :    sensor_msgs/PointCloud2*

Soo then what I do is that I try to extract the /velodyne_points but is doesn't work:

*raphael@ubuntu:~/Link_to_HESB/Bachelor/low_freq$ rosrun pcl_ros bag_to_pcd 2012-08-10-17-32-31.bag /velodyne_points ./pointclouds Saving recorded sensor_msgs::PointCloud2 messages on topic /velodyne_points to ./pointclouds

ERROR 1361880690.779414125: Frame id /base_link does not exist! Frames (1):

Erreur de segmentation (core dumped)*

So I found some informations about changing a TF file but I'm really new on ROS & Ubuntu so I have no clue where & how I actually should do this ;)

Can someone here help me on this? I already lost some hours trying to solve that ;)