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Petros ADLATUS's profile - activity

2023-04-08 06:44:16 -0500 received badge  Notable Question (source)
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2022-07-19 02:32:06 -0500 edited question catkin_make: No rule to make target 'install'. Stop for requirements files

catkin_make fails building node with dynamic reconfigure Hello, I try to create this package (https://github.com/jsk-ro

2022-07-19 02:12:33 -0500 edited question catkin_make: No rule to make target 'install'. Stop for requirements files

catkin_make fails building node with dynamic reconfigure Hello, I try to create this package (https://github.com/jsk-ro

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2022-07-18 00:33:31 -0500 edited question catkin_make: No rule to make target 'install'. Stop for requirements files

catkin_make fails building node with dynamic reconfigure Hello, I try to create this package (https://github.com/jsk-ro

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2022-07-18 00:32:25 -0500 edited question catkin_make: No rule to make target 'install'. Stop for requirements files

catkin_make fails building node with dynamic reconfigure Hello, I try to create this package (https://github.com/jsk-ro

2022-07-18 00:31:13 -0500 asked a question catkin_make: No rule to make target 'install'. Stop for requirements files

catkin_make fails building node with dynamic reconfigure Hello, I try to create this package (https://github.com/jsk-ro

2022-07-14 04:00:40 -0500 commented question Clarify data[] in PointCloud2 message

@gvdhoorn I added it, could you take a look?

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2022-06-24 06:53:42 -0500 received badge  Rapid Responder
2022-06-24 06:53:42 -0500 answered a question How to enable gpu acceleration on laptop for ros?

did you searched it in the web? https://discourse.ros.org/t/challenges-of-gpu-acceleration-in-ros/19297

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2022-05-23 00:24:04 -0500 commented answer Understanding Pointcloud2 data

@tryan thank you for explanation, thats the point the LIDAR leaflet hasn't these information :/

2022-05-20 00:56:27 -0500 edited question Clarify data[] in PointCloud2 message

Clarify data[] in PointCloud2 message Hello folks, I have a question about the interpretation of my point cloud data. A

2022-05-20 00:54:37 -0500 commented answer Help with PointCloud2 Data

@janindu may I could add a short question to the saving with little endian format?

2022-05-20 00:50:41 -0500 commented answer Understanding Pointcloud2 data

@tryan can you tell me in relation to the question of @SurajJadhav what does it mean when data is: [0,0,0,0]. Means this

2022-05-20 00:40:14 -0500 commented answer How to deactivate image_transport plugins?

thank you for your answer, so i miss probably the namespace just use rosparam. sound good with the option to switch it m

2022-05-19 01:06:16 -0500 commented answer How to deactivate image_transport plugins?

@lucasw where i must put the first few lines of your solution, sorry I dont get it. I found only the header files and ch

2022-05-18 07:39:18 -0500 commented answer How to deactivate image_transport plugins?

@lucasw where i must put the first few lines of your solution, sorry I dont get it. Must this be changed in the C++ driv

2022-05-18 07:35:51 -0500 commented answer How to deactivate image_transport plugins?

@lucasw where i must put the first few lines of your solution, sorry I dont get it. Must this be changed in the C++ driv

2022-05-18 07:08:26 -0500 commented answer How to deactivate image_transport plugins?

@lucasw where i must put the first few lines of your solution, sorry I dont get it

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2022-05-14 04:51:20 -0500 marked best answer How to publish sensor_msgs Image during node creates images

Hello,

I use a node that subscribes to the PointCloud2 message and converts them to Bird Eye View photos with subsequent storage. While the node is running, the LiDAR scan is displayed in OpenCV windows and the images are saved. My plan is to publish sensor_msgs/Image at the same time.

I am working with the cv::imread and cv::imdecodefunctions to see if I can also access the raw data, however neither method works so far. I have followed the two sources (http://wiki.ros.org/image_transport / http://wiki.ros.org/image_transport/T...) for the implementation.

Code snippets not complete

Function:

// Global Publishers/Subscribers
ros::Subscriber subPointCloud;
ros::Publisher pubPointCloud;
image_transport::Publisher pubImage;

// create Matrix to store pointcloud data
cv::Mat *heightmap, *hsv, *bgr;
std::vector<int> compression_params;
cv::Mat image;

int fnameCounter = 0;

void DEM(const sensor_msgs::PointCloud2ConstPtr& pointCloudMsg)
{
  // Display image
  cv::cvtColor(*hsv, *bgr, cv::COLOR_HSV2BGR);  // HSV matrix (src) to BGR matrix (dst)

  // Plot HSV(colored) and BGR (b/w)
  cv::imshow(WIN_NAME, *bgr); // show new HSV matrix
  cv::imshow(WIN_NAME2, *heightmap); // show old BGR matrix

  // Save image to disk
  char filename[100];

  // FLAG enable/disable saving function
  if (save_to_disk == true)
  {
    // save JPG format
    snprintf(filename, 100, "/home/pkatsoulakos/catkin_ws/images/image_%d.jpg", fnameCounter);
    std::cout << filename << std::endl;
    // JPG image writing
    cv::imwrite(filename, *bgr, compression_params);

    image = cv::imread("/home/pkatsoulakos/catkin_ws/tests/filtered_30_30/image_11.png", IMREAD_COLOR);
    if (image.empty())
    {
      std::cout << "!!! Failed imread(): image not found" << std::endl;
    }
    else
    {
      std::cout << "succesfully loaded" << std::endl;
    }

    /*image = cv::imdecode(*bgr, IMREAD_COLOR);
    if (image.data == NULL)
  {
    std::cout <<"!!! Failed imread(): image not found" << std::endl;
  }*/

  }
  ++fnameCounter;

  // Publish bird_view img
  cv_bridge::CvImage cv_bird_view;
  cv_bird_view.header.stamp = ros::Time::now();
  cv_bird_view.header.frame_id = "out_bev_image";
  cv_bird_view.encoding = "bgr8";
  cv_bird_view.image = image;
  pubImage.publish(cv_bird_view.toImageMsg());

  // Output Image
  //sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
  //pubImage.publish(msg);

}

Main:

    int main(int argc, char** argv)
    {
      ROS_INFO("Starting LIDAR Node");
      ros::init(argc, argv, "lidar_node");
      ros::NodeHandle nh;
      image_transport::ImageTransport it(nh);

      // Setup Image Output Parameters
      fnameCounter = 0;
      lowest = FLT_MAX;

      /* PNG compression param
       compression_params.push_back(IMWRITE_PNG_COMPRESSION);
       A higher value means a smaller size and longer compression time. Default value is 3.
       compression_params.push_back(9); */

      // JPG compression param
      compression_params.push_back(IMWRITE_JPEG_QUALITY);
      // from 0 to 100 (the higher is the better). Default value is 95.
      compression_params.push_back(95);

      // subscriber and publisher
      subPointCloud = nh.subscribe<sensor_msgs::PointCloud2>("/pointcloud", 2, DEM);
      pubPointCloud = nh.advertise<sensor_msgs::PointCloud2> ("/heightmap/pointcloud", 1);
      pubImage = it.advertise("out_bev_image",1);

      ros::spin();

      return 0;
}
2022-05-14 04:51:16 -0500 edited answer How to publish sensor_msgs Image during node creates images

SOLUTION: I found out, that I don't need the cv::imread() or cv::imdecode(), because the data are already stored in cv::

2022-05-14 04:50:34 -0500 answered a question How to publish sensor_msgs Image during node creates images

SOLUTION: I found out, that I don't need the cv::imread() or cv::imdecode(), because the data are already stored in cv::

2022-05-13 02:16:52 -0500 commented answer Conversion from sensor_msgs::PointCloud2 to pcl::PointCloud<T>

@lile can you help me with conversion?

2022-05-13 02:14:37 -0500 received badge  Notable Question (source)
2022-05-13 01:49:47 -0500 commented answer Conversion from sensor_msgs::PointCloud2 to pcl::PointCloud<T>

@bzr what is with the intensity from pointcloud2 converting to xyz?

2022-05-13 01:05:30 -0500 commented question Getting queue state/size for ros2 queues

will this help you ? https://answers.ros.org/question/206925/roscpp-requesting-current-queue-state-of-subscriber/

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2022-05-12 03:36:46 -0500 commented question rviz how to refresh an image

@kansai which project are you using? I see you apply object detection on sensor_msgs/Image? Can you share it?

2022-05-12 03:26:21 -0500 edited question How to publish sensor_msgs Image during node creates images

How to publish sensor_msgs Image during node creates images Hello, I use a node that subscribes to the PointCloud2 mess

2022-05-12 02:36:34 -0500 edited question How to publish sensor_msgs Image during node creates images

How to publish sensor_msgs Image during node creates images Hello, I use a node that subscribes to the PointCloud2 mess

2022-05-12 02:25:40 -0500 asked a question How to publish sensor_msgs Image during node creates images

How to publish sensor_msgs Image during node creates images Hello, I use a node that subscribes to the PointCloud2 mess

2022-05-10 23:56:44 -0500 commented answer How to use PCL python in ROS?

Python3: pip install python3-pcl

2022-05-09 06:48:58 -0500 commented answer How can I change transform from "frame A" to "frame B" ?

no problem, seems that it does not work with the old node. I tried a new one, which produces me the right output ;)

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2022-05-04 03:09:26 -0500 marked best answer Custom rosbag record in launch file (several args)

Hey guys,

i'm trying to use rosbag record to pass multiple arguments in a launch file, but unfortunately the folder is not created and recordings aren't started.

I used the following arguments:

node pkg ="rosbag" type="record" name="record_run" args="record -o ./rosbags record --split --duration=15m -a" />

record -o ./rosbags --split --duration=15m -a

-o : timestamp for bag file

--split --duration=15m : split the bag when duration is reached

-a : record all topics

Does anyone know what i did wrong, i have tried different variations, but it's still not working

Thanks a lot!

2022-05-04 03:08:40 -0500 answered a question Should you use ros::Subscribe or message_filters::Subscribe ?

Hello, did you read the entries to the specific documentation for both (http://wiki.ros.org/message_filters and http://

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2022-05-04 02:46:47 -0500 asked a question How to use parameter for expand function of C++ function

How to use parameter for expand function of C++ function Hello, I would like to find an elegant way to pass a parameter

2022-05-03 07:50:47 -0500 marked best answer Error with launch file and rosrun using a ROS package

Hey guys,

I am in the process of using a ROS package (https://github.com/beltransen/lidar_bev) that converts PointCloud data into Bird Eye View images. I have successfully installed the package with catkin. I use my own launch file (supplemented with that of the ROS package) to import bag files and get the desired images. The input message is sensor_msgs/PointCloud2, which is also included in my bag files.

My first question would be, can the bag files only contain this one message in order to run it compatible with the package?

Attached is my launch file:

<launch>
< !--1. start bag files playback-- >

< node pkg ="rosbag" type="play" name="bag_files_playback" output="screen" args="/home/pkatsoulakos/catkin_ws/src/launch/rosbags/Besprechungsraum/_2022-03-23-08-37-50_0.bag  /home/pkatsoulakos/catkin_ws/src/launch/rosbags/Besprechungsraum/_2022-03-23-08-39-07_2.bag"/ >

< !-- 2. topics and frames -- >

< arg name="cloud_topic" default="/velodyne_points"/>

    < arg name="lidar_tf_frame" default="/velodyne"/>

    < arg name="camera_tf_frame" default="/stereo_camera"/> 

< !-- MAP CONFIGURATION -- >

    <arg name="camera_fov" default="110.0"/>
    <arg name="intensity_threshold" default="0.05" />
    <arg name="cell_size" default="0.05" />
    <arg name="cell_size_height_map" default="0.25" />
    <arg name="max_height" default="3.0" />
    <arg name="num_slices" default="1" />
    <arg name="grid_dim" default="70" />
    <arg name="grid_dim_height_map" default="300" />
    <arg name="height_threshold" default="0.10" />
    <arg name="crop_180" default="true" />
    <arg name="remove_floor" default="false" />

< !-- VLP16 change for my purposes?-- >

    <arg name="planes" default="16" />
    <arg name="h_res" default="0.2" />
    <arg name="v_res" default="1.33" />
    <arg name="low_opening" default="-10" />
    <arg name="max_expected_intensity" default="5" />

< !--2. start lidar_bev-- >

< node pkg="lidar_bev" type="lidar_bev" name="lidar_bev_run" output="screen" >

        <param name="cloud_topic" value="$(arg cloud_topic)"/>
        <param name="lidar_tf_frame" value="$(arg lidar_tf_frame)"/>
        <param name="camera_tf_frame" value="$(arg camera_tf_frame)"/>
        <param name="camera_fov" value="$(arg camera_fov)"/>
        <param name="planes" value="$(arg planes)"/>
        <param name="h_res" value="$(arg h_res)"/>
        <param name="v_res" value="$(arg v_res)"/>
        <param name="low_opening" value="$(arg low_opening)"/>
        <param name="cell_size" value="$(arg cell_size)"/>
        <param name="grid_dim" value="$(arg grid_dim)"/>
        <param name="max_height" value="$(arg max_height)"/>
        <param name="num_slices" value="$(arg num_slices)"/>
        <param name="height_threshold" value="$(arg height_threshold)"/>
        <param name="cell_size_height_map" value="$(arg cell_size_height_map)"/>
        <param name="grid_dim_height_map" value="$(arg grid_dim_height_map)"/>
        <param name="max_expected_intensity" value="$(arg max_expected_intensity)"/>
        <param name="crop_180" value="$(arg crop_180)"/>
        <param name="remove_floor" value="$(arg remove_floor)"/>

    </node> 

</launch>

I would be very grateful if someone could help me to make this conversion.

image description