[pepper_bringup] add perception.launch.xml #27
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furushchev
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Hi, I tried this pull-request with rgbd_launch pull-request because I'd like to use this ! I executed New topics are as follows: I also checked outputs by using rviz Image. show output. However, showed nothing. (I don't think it is a problem though.) I found the terminal of It seems that depth_registered processing requires static_tf_publisher. (I'm not sure. It may be only my PC problem.) |
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@kochigami Nice catch! $ rosrun tf tf_monitor CameraDepth_optical_frame CameraTop_optical_frame
RESULTS: for CameraDepth_optical_frame to CameraTop_optical_frame
Chain is: CameraDepth_optical_frame -> CameraDepth_frame -> Head -> Neck -> torso -> Neck -> Head -> CameraTop_frame
-> CameraTop_optical_frame
Net delay avg = 0.040272: max = 0.640725
Frames:
Frame: CameraDepth_frame published by unknown_publisher Average Delay: 0.00310782 Max Delay: 0.0437475
Frame: CameraDepth_optical_frame published by unknown_publisher Average Delay: 0.00310642 Max Delay: 0.0437458
Frame: CameraTop_frame published by unknown_publisher Average Delay: 0.00311052 Max Delay: 0.0437512
Frame: CameraTop_optical_frame published by unknown_publisher Average Delay: 0.00310918 Max Delay: 0.0437492
Frame: Head published by unknown_publisher Average Delay: 0.0030323 Max Delay: 0.0436482
Frame: Head published by unknown_publisher Average Delay: 0.0030323 Max Delay: 0.0436482
Frame: Neck published by unknown_publisher Average Delay: 0.00303538 Max Delay: 0.0436521
Frame: Neck published by unknown_publisher Average Delay: 0.00303538 Max Delay: 0.0436521
Frame: torso published by unknown_publisher Average Delay: 0.00314292 Max Delay: 0.0437953
All Broadcasters:
Node: unknown_publisher 15.0153 Hz, Average Delay: 0.00305912 Max Delay: 0.0432073This frequency is originated from |
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BTW, the chain from |
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@furushchev Thank you very much for your help ! I could clear my head. |
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this is interesting, can we use approx sync for color and depth? > @furushchev |
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@k-okada OK, I will take a look into soon. |
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Now ros-drivers/rgbd_launch#28 was merged, and waiting ros-naoqi/naoqi_driver#72 |
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ros-naoqi/naoqi_driver#72 is now merged too so the transforms should be published often enough to perform registration |
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@mikaelarguedas Thank you for summarizing, and yes. |
I found that depth registration nodelet uses approximate sync by default and queue size are set to |
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confirmed that changes on ros-drivers/rgbd_launch#28 was already released. |
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ok, restarted travis, do we also need ◉ Kei Okada On Tue, Sep 13, 2016 at 5:39 PM, Furushchev notifications@github.com
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@k-okada To just publish registered point cloud, it is not necessary, but to work SLAM, yes. @kochigami Anyway, at almost case compressed depth image is too noisy to use, so you can create pull request of this change on your branch 👍 kochigami/naoqi_driver@d8ce964 |
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Hi, and I think |
furushchev
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@kochigami thx 👍 |
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waiting ros-drivers/rgbd_launch#35 is released on jade. |
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released on jade ros/rosdistro#12687 and now available on $ sudo apt-cache policy ros-jade-rgbd-launch
ros-jade-rgbd-launch:
Installed: (none)
Candidate: 2.2.2-0trusty-20160913-224143-0700
Version table:
2.2.2-0trusty-20160913-224143-0700 0
500 http://packages.ros.org/ros-shadow-fixed/ubuntu/ trusty/main amd64 Packages@k-okada could you please restart test once more for testing jade? |
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@suryaambrose do you agree to release naoqi-bridge to be able to test this PR ? |
furushchev
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@suryaambrose FYI: released naoqi-bridge in indigo, jade, kinetic I'll try to monitor the jobs but if you receive any buildfarm failure email please let me know |
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@mikaelarguedas @suryaambrose any update? |
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lgtm thanks @furushchev |
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@mikaelarguedas @severin-lemaignan Thank you for reviewing and merging! |
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This PR also seems to resolve #12 |
enables rectify and depth registration
needs ros-drivers/rgbd_launch#28