Install on Hydro

[brotherxiang00]

Hi guys, thank you for providing this package, but I would like to know can I run the package on hydro? I install it in a rosbuild workspace on hydro. It seems that does not work well. Could you please have a look at this link? http://answers.ros.org/question/145411/error-on-installing-ccny-package-on-hydro/. Many thanks.

[LiliMeng]

It shows no rosmake errors on my ROS hydro, but it displays nothing on Rviz

[carlosgalvezp]

Could you please write the commands you use to run the code? What's the console output?

[LiliMeng]

$roslaunch ccny_openni_launch openni.launch
$roslaunch ccny_rgbd vo+mapping.launch
$rosrun rviz rviz

SUMMARY

PARAMETERS

• /keyframe_mapper_node/full_map_res
• /keyframe_mapper_node/kf_angle_eps
• /keyframe_mapper_node/kf_dist_eps
• /keyframe_mapper_node/max_range
• /keyframe_mapper_node/max_stdev
• /rosdistro
• /rosversion
• /visual_odometry_node/base_frame
• /visual_odometry_node/feature/GFT/min_distance
• /visual_odometry_node/feature/GFT/n_features
• /visual_odometry_node/feature/ORB/n_features
• /visual_odometry_node/feature/ORB/threshold
• /visual_odometry_node/feature/SURF/threshold
• /visual_odometry_node/feature/detector_type
• /visual_odometry_node/feature/max_range
• /visual_odometry_node/feature/max_stdev
• /visual_odometry_node/feature/publish_feature_cloud
• /visual_odometry_node/feature/publish_feature_covariances
• /visual_odometry_node/feature/show_keypoints
• /visual_odometry_node/feature/smooth
• /visual_odometry_node/fixed_frame
• /visual_odometry_node/publish_tf
• /visual_odometry_node/reg/ICPProbModel/max_assoc_dist_mah
• /visual_odometry_node/reg/ICPProbModel/max_corresp_dist_eucl
• /visual_odometry_node/reg/ICPProbModel/max_iterations
• /visual_odometry_node/reg/ICPProbModel/max_model_size
• /visual_odometry_node/reg/ICPProbModel/n_nearest_neighbors
• /visual_odometry_node/reg/ICPProbModel/publish_model_cloud
• /visual_odometry_node/reg/ICPProbModel/publish_model_covariances
• /visual_odometry_node/reg/motion_constraint
• /visual_odometry_node/reg/reg_type
• /visual_odometry_node/verbose

NODES
/
keyframe_mapper_node (ccny_rgbd/keyframe_mapper_node)
visual_odometry_node (ccny_rgbd/visual_odometry_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[visual_odometry_node-1]: started with pid [7136]
process[keyframe_mapper_node-2]: started with pid [7137]
[ INFO] [1404853997.827807709]: Starting RGBD Visual Odometry
[ INFO] [1404853997.838610311]: Creating GFT detector
[ INFO] [1404853999.049867831]: Starting RGBD Keyframe Mapper

[carlosgalvezp]

The RGBD Processing node is not correctly grabbing the RGBD data from your camera. In my case I had to change in the code the name of the topics it subscribes to, but I'm sure there's a more elegant way of doing it using remap. I now subscribe to the following topics in the rgbd_image_proc node:
/camera/rgb/image
/camera/rgb/camera_info
/camera/depth/image_raw
/camera/depth/camera_info

When it works your console will constantly display information about the number of features detected from the GFT detector.

[LiliMeng]

Many thanks!

Could you please write the commands how you subscribe these topics?

[carlosgalvezp]

Well I don't use additional commands, I just changed these lines inside rgbd_image_proc.cpp (this is my final version):

sub_rgb_.subscribe (rgb_image_transport_, "/camera/rgb/image", queue_size_); sub_depth_.subscribe(depth_image_transport_, "/camera/depth/image_raw", queue_size_); //16UC1 sub_rgb_info_.subscribe (nh_, "/camera/rgb/camera_info", queue_size_); sub_depth_info_.subscribe(nh_, "/camera/depth/camera_info", queue_size_);

First of all: does this command:
$roslaunch ccny_openni_launch openni.launch
work? Try only that, write here the topics that it generates, and try to see the RGB image for instance (using image_view)

[LiliMeng]

Many thanks! Finally it works!