Running fovis_ros on Hydro
I want to get odometry data from Kinect data. It seems the only solution around is using fovis_ros. After playing the bag file, which contains Kinect data, I run fovis_ros
node:
ros@ubuntu:~/catkin_ws$ rosrun fovis_ros fovis_mono_depth_odometer
[ INFO] [1459769317.003168875]: Subscribing to:
* /camera/rgb/image_rect
* /camera/depth_registered/image_rect
* /camera/rgb/camera_info
* /camera/depth_registered/camera_info
Here is the problem:
I can provide /camera/rgb/image_rect
and /camera/rgb/camera_info
topics using by using image_proc
node:
ros@ubuntu:~/catkin_ws$ ROS_NAMESPACE=camera/rgb rosrun image_proc image_proc
But for other two /camera/depth_registered/image_rect
and /camera/depth_registered/camera_info
I don't know what can help me.
Here is what I got after running fovis_ros
:
[ WARN] [1459769332.179491016, 1333736343.997718054]: [stereo_processor] Low number of synchronized image/depth/image_info/depth_info tuples received.
Images received: 404 (topic '/camera/rgb/image_rect')
Depth images received: 0 (topic '/camera/depth_registered/image_rect')
Image camera info received: 400 (topic '/camera/rgb/camera_info')
Depth camera info received: 0 (topic '/camera/depth_registered/camera_info')
Synchronized tuples: 0
The other thing is, what is image/depth/image_info/depth_info
in the first line of that message?
I'm using ROS Hydro and here are details of the bag file:
version: 2.0
duration: 11:07s (667s)
start: Apr 06 2012 11:15:29.32 (1333736129.32)
end: Apr 06 2012 11:26:36.96 (1333736796.96)
size: 17.5 GB
messages: 321016
compression: none [19905/19905 chunks]
types: geometry_msgs/PoseWithCovarianceStamped [953b798c0f514ff060a53a3498ce6246]
nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7]
pr2_mechanism_controllers/BaseOdometryState [8a483e137ebc37abafa4c26549091dd6]
pr2_mechanism_controllers/Odometer [1f1d53743f4592ee455aa3eaf9019457]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
std_msgs/Bool [8b94c1b53db61fb6aed406028ad6332a]
tf/tfMessage [94810edda583a504dfda3829e70d7eec]
topics: /base_odometry/odom 61481 msgs : nav_msgs/Odometry
/base_odometry/odometer 667 msgs : pr2_mechanism_controllers/Odometer
/base_odometry/state 667 msgs : pr2_mechanism_controllers/BaseOdometryState
/base_scan 13332 msgs : sensor_msgs/LaserScan
/camera/depth/camera_info 19902 msgs : sensor_msgs/CameraInfo
/camera/depth/image_raw 19901 msgs : sensor_msgs/Image
/camera/rgb/camera_info 19920 msgs : sensor_msgs/CameraInfo
/camera/rgb/image_raw 19920 msgs : sensor_msgs/Image
/robot_pose_ekf/odom_combined 17410 msgs : geometry_msgs/PoseWithCovarianceStamped
/tf 67716 msgs : tf/tfMessage (2 connections)
/tilt_scan 13331 msgs : sensor_msgs/LaserScan
/torso_lift_imu/data 66768 msgs : sensor_msgs/Imu
/torso_lift_imu/is_calibrated 1 msg : std_msgs/Bool