Problems using the given bag in the vlsam-tutorial

asked 2011-06-26 19:23:02 -0600

NikolasEngelhard
106 ●6 ●9 ●13

Hello

I've installed the vslam via

sudo apt-get install ros-diamondback-vslam

and tried to run the bag file given in the tutorial Tutorials/RunningVslamOnStereoData

If is start the bag-file I only get

[ERROR] [1309158942.182362673]: Client [/wide_stereo/stereo_vslam_node] wants topic /wide_stereo/right/camera_info to have datatype/md5sum [sensor_msgs/CameraInfo/c9a58c1b0b154e0e6da7578cb991d214], but our version has [sensor_msgs/CameraInfo/1b5cf7f984c229b6141ceb3a955aa18f]. Dropping connection.
[ERROR] [1309158942.295048099]: Client [/wide_stereo/stereo_vslam_node] wants topic /wide_stereo/left/camera_info to have datatype/md5sum [sensor_msgs/CameraInfo/c9a58c1b0b154e0e6da7578cb991d214], but our version has [sensor_msgs/CameraInfo/1b5cf7f984c229b6141ceb3a955aa18f]. Dropping connection.

Was there a change in the code which is not reflected in the bag-file?

Nikolas

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answered 2011-06-26 23:05:55 -0600

Jordi Pages
245 ●4 ●5 ●9

Hi Nikolas,

I think I had the same problem: the bag file was probably recorded using cturtle and you are probably running diamondback. In any case, you may try to fix the bag file:

rosbag fix vslam_tutorial.bag vslam_tutorial_fixed.bag

and play it as follows:

rosbag play --clock vslam_tutorial_fixed.bag

Regards

Jordi

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Thanks. no highlighting in comment, so see next answer...

NikolasEngelhard ( 2011-06-27 22:22:13 -0600 )edit

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answered 2011-06-27 23:11:52 -0600

Jordi Pages
245 ●4 ●5 ●9

I have run the rosbag fix again and it works. Nevertheless, it takes several minutes and several warnings appear. Could you post what do you obtain when typing "rosbag info vslam_tutorial.bag"? What I obtain is the following:

path:         vslam_tutorial.bag
version:      2.0
duration:     29.5s
start:        Jun 02 2010 06:22:54.25 (1275452574.25)
end:          Jun 02 2010 06:23:23.78 (1275452603.78)
size:         445.9 MB
messages:     11435
compression:  bz2 [1157/1157 chunks; 43.41%]
uncompressed:   1.0 GB @ 34.7 MB/s
compressed:   445.1 MB @ 15.1 MB/s (43.41%)
types:        roslib/Clock           [a9c97c1d230cfc112e270351a944ee47]
              roslib/Log             [acffd30cd6b6de30f120938c17c593fb]
              sensor_msgs/CameraInfo [1b5cf7f984c229b6141ceb3a955aa18f]
              sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
              tf/tfMessage           [94810edda583a504dfda3829e70d7eec]
topics:       /clock                             2756 msgs    : roslib/Clock          
              /narrow_stereo/left/camera_info     868 msgs    : sensor_msgs/CameraInfo
              /narrow_stereo/left/image_rect      867 msgs    : sensor_msgs/Image     
              /narrow_stereo/right/camera_info    867 msgs    : sensor_msgs/CameraInfo
              /narrow_stereo/right/image_rect     867 msgs    : sensor_msgs/Image     
              /rosout                              12 msgs    : roslib/Log            
              /tf                                1729 msgs    : tf/tfMessage          
              /wide_stereo/left/camera_info       867 msgs    : sensor_msgs/CameraInfo
              /wide_stereo/left/image_rect        868 msgs    : sensor_msgs/Image     
              /wide_stereo/right/camera_info      867 msgs    : sensor_msgs/CameraInfo
              /wide_stereo/right/image_rect       867 msgs    : sensor_msgs/Image

I could upload my fixed version. Is there any way to do it?

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answered 2011-06-27 22:24:57 -0600

NikolasEngelhard
106 ●6 ●9 ●13

Thanks. I still have a problem with the conversion:

The following migrations need to occur:
 * From: roslib/Log [acffd30cd6b6de30f120938c17c593fb]
   To:   roslib/Log [acffd30cd6b6de30f120938c17c593fb]
 * From: sensor_msgs/CameraInfo [1b5cf7f984c229b6141ceb3a955aa18f]
   To:   sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
    2 rules missing:
     * From: sensor_msgs/CameraInfo [1b5cf7f984c229b6141ceb3a955aa18f]
       To:   sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
     * From: sensor_msgs/RegionOfInterest [878e60591f2679769082130f7aafa371]
       To:   sensor_msgs/RegionOfInterest [bdb633039d588fcccb441a4d43ccfe09]

Do you happen to know where these rules can be found/generated? Or upload your fixed version?

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