kang's profile - activity

Hi,

I am using rosbag for recording 2 kinects pointcloud (with RGB, without 2d-image) for duration around 10 minutes. I am recording in the same machine to which the kinects are attached.

When recording, usually it happens: rosbag record buffer exceeded. Dropping oldest queued message.

Then, I set the record buffer to like 40 Gigabyte. It helps, but still I found on one or two videos while recording, the buffer exceeded ocassionally.

I am running on Debian Squeeze machine, 4 processor @3.1 GHz. Memory: 7.8GiB.

My questions are: What does actually the buffer do? and is there some solutions for the recording problem?

Best, kang

Hi, I am using rosbag in rosdiamonback for recording pointcoulds sequences (video). So far, I feel it could not provide smooth running video, there is always lagging or even lost on some frames. While recording on images give nice smooth video from frame to frame, at least no obvious lost frames. I am wondering if it is the problem from the rosbag itself for pointclouds recording or I am missing something.

If someone has alternative solution for pointcloud sequences recording, pls let me know.

Best, Kang

Hi,

I have a small coding problem while writing publisher. Usually I write publisher inside main function in my code:

pub.publish(data);

after initialize ros, create nodhandle, and define publisher. Similar like this tutorial).

Now, I trying to publish not in my main function. But this could not work since the ros initialization and nodeHandle etc are in main function. And if I write the nodehandle in my one of my subfunction, the nodehandle will also directly off after the subfunction being called.

I was thinking if the rosinit could be initialized before the main function, but still have found the way.

Let me now if someone have suggestion. Thx

Cheers, Kang

Hi,

I am using multiple kinects. and I want to address the kinect fix by referring to the bus which the kinects are connected. I think i should do something like this to refer the bus (e.g. bus 2) in the openni_node launch file: <param name="device_id" value="002"/>

but it doesn't work. Help will be appreciated.

Cheers, Kang

Hi, I am using perception-pcl under ros. I want to get pointcloud from two kinects. Here, I subscribe to both topics. How can I get the data, which is the "cloud_s" and "cloud_t" into my main function and compute it there? I tried to put argument on callback function like cloud_cb1(cloud_s) in:

ros::Subscriber sub_source = nh1.subscribe("camera1/depth/points", 1,cloud_cb1);

but, it did not work. below is part of my code. Thanks in advanced.

...
    void cloud_cb1 (const sensor_msgs::PointCloud2ConstPtr& cloud_s)
    {
      if ((cloud_s->width * cloud_s->height) == 0)
        return; 
}
void cloud_cb2 (const sensor_msgs::PointCloud2ConstPtr& cloud_t)
{
      if ((cloud_t->width * cloud_t->height) == 0)
        return;
}


int main(int argc, char** argv)
{
ros::init (argc, argv, "reg_icp_ros");  //initialize ros  
ros::NodeHandle nh1;
ros::NodeHandle nh2;

while (ros::ok())
  {
//subscribe node
ros::Subscriber sub_source = nh1.subscribe("camera1/depth/points", 1,cloud_cb1);
ros::Subscriber sub_target = nh2.subscribe("camera2/depth/points", 1,cloud_cb2);

...

best,

Hi,

I am currently using pcl under ros. i am trying to publish pointcloud2 which I have computed. I already read tutorial from here But somehow I still have not get this right yet.

Let's say I call my computed pointcloud as cloud: pcl::PointCloud<Point>::Ptr cloud_aligned (new pcl::PointCloud<Point>);

and here how I defined for publisher:

ros::NodeHandle nh3;
ros::Publisher pub = nh3.advertise<sensor_msgs::PointCloud2>("alignedcloud", 1);
ros::Rate loop_rate(10);

then here is how I try to call publish:

pub.publish(cloud_aligned);  
ros::spinOnce();
loop_rate.sleep();

Could someone give me some hints?

Best, kang

some errors:

/ros_diamondback/ros_comm/clients/cpp/roscpp_traits/include/ros/message_traits.h:121: error: 'const class pcl::PointCloud<pcl::PointXYZ>' has no member named '__getMD5Sum'
/ros_diamondback/ros_comm/clients/cpp/roscpp_traits/include/ros/message_traits.h: In static member function 'static const char* ros::message_traits::DataType<M>::value(const M&) [with M = pcl::PointCloud<pcl::PointXYZ>]':

/ros_diamondback/ros_comm/clients/cpp/roscpp_serialization/include/ros/serialization.h:142: error: 'const class pcl::PointCloud<pcl::PointXYZ>' has no member named 'serializationLength'
/ros_diamondback/ros_comm/clients/cpp/roscpp_serialization/include/ros/serialization.h: In static member function 'static void ros::serialization::Serializer<T>::write(Stream&, typename boost::call_traits<T>::param_type) [with Stream = ros::serialization::OStream, T = pcl::PointCloud<pcl::PointXYZ>]':
/ros_diamondback/ros_comm/clients/cpp/roscpp/include/ros/publisher.h:87:   instantiated from 'void ros::Publisher::publish(const boost::shared_ptr<X>&) const [with M = pcl::PointCloud<pcl::PointXYZ>]'
/ros_diamondback/perception_pcl/pcl/src/tools/reg_icp_ros.cpp:88:   instantiated from here
/ros_diamondback/ros_comm/clients/cpp/roscpp_serialization/include/ros/serialization.h:124: error: 'const class pcl::PointCloud<pcl::PointXYZ>' has no member named 'serialize'

Hi,

Is it possible to have multi-window for pointcloud2 in rviz? For camera or image we can directly have additional window as we add it up. But for pointcloud2 it does not work like that.

Best, Kang

Hi,

Currently I am trying tutorial for PCL as described in http://www.pointclouds.org/documentat...

But, as in perception_pcl package in ros I could not find file named "FindPCL.cmake".

Perhaps, someone could give some enlightenment here. I am still a bit confused how to use pcl in ros.

Thanks in advanced.

Kang

Hi,

I am now working on Debian which I do not have root privilage access so I am not able to do sudo command. Is there a solution I can download the ROS packages and install it to directories that I can access?

note: I notice that the similar question has been asked, but the solution does not work for me.

Best, Kang

Hi,

I would like to save the depth images into pcd format files which I viewed in rviz through openni_kinect. Can someone gives some clues? Thanks

Best, Kang