On Thu, Mar 25, 2010 at 6:35 PM, Eric Perko wrote: > Hi all, > > I'm currently trying to use the ROS image_pipeline and the new > camera1394 driver to get some Point Grey 1394 cameras up and running. > For some reason, I am unable to view any of the topic being published > by image_proc. First, here is the launch file I am using to start up > the camera and image_proc: > > > > > > value="file:///home/eric/code/cwrucam/cwrucam/calibration/calibration_left.yaml" > /> > > > > > After running this, I get the following output from rostopic list -v: > > Published topics: >  * /left/camera/image_rect_color [sensor_msgs/Image] 1 publisher >  * /left/camera/image_rect [sensor_msgs/Image] 1 publisher >  * /left/camera/camera_info [sensor_msgs/CameraInfo] 1 publisher >  * /rosout [roslib/Log] 2 publishers >  * /left/camera/image_raw [sensor_msgs/Image] 1 publisher >  * /rosout_agg [roslib/Log] 1 publisher >  * /left/camera/image_color [sensor_msgs/Image] 1 publisher >  * /left/camera/image_mono [sensor_msgs/Image] 1 publisher > > Subscribed topics: >  * /clock [unknown type] 3 subscribers >  * /rosout [roslib/Log] 1 subscriber > > So, based on that, I can see that the image_proc node is actually up > and running. I am able to do "rosrun image_view image_view > image:=/left/camera/image_raw" and see the color image from my camera > streaming in. rostopic hz also confirms that both > /left/camera/image_raw and /left/camera/camera_info are running at > about 15 fps. > > Now, when I run "rosrun image_view image_view > image:=/left/camera/image_rect_color" (or any other image_proc > published topic), I get a blank window with no image in it. Running > rostopic list -v again while the image_view node is running gives me > the following: > > Published topics: >  * /left/camera/image_rect_color [sensor_msgs/Image] 1 publisher >  * /left/camera/image_rect [sensor_msgs/Image] 1 publisher >  * /left/camera/camera_info [sensor_msgs/CameraInfo] 1 publisher >  * /rosout [roslib/Log] 3 publishers >  * /left/camera/image_raw [sensor_msgs/Image] 1 publisher >  * /rosout_agg [roslib/Log] 1 publisher >  * /left/camera/image_color [sensor_msgs/Image] 1 publisher >  * /left/camera/image_mono [sensor_msgs/Image] 1 publisher > > Subscribed topics: >  * /left/camera/image_rect_color [sensor_msgs/Image] 1 subscriber >  * /clock [unknown type] 4 subscribers >  * /left/camera/camera_info [sensor_msgs/CameraInfo] 1 subscriber >  * /rosout [roslib/Log] 1 subscriber >  * /left/camera/image_raw [sensor_msgs/Image] 1 subscriber > > So, I can see that image_proc is subscribing to the correct topics and > image_view is also on the correct topic. I also tried starting the > image_proc node from the command line as indicated at > http://www.ros.org/wiki/image_proc but got the exact same behavior as > with the launch file. In either case, rostopic hz > /left/camera/image_rect_color just outputs that it is subscribing to > the topic and waits. > So, I'm a bit stumped as to what to do to narrow down what is causing > this behavior, since I get no error output in any of my terminal > windows. I'm running the latest based on these .rosinstall files: > http://ros.org/rosinstalls/latest_pr2.rosinstall with > http://www.ros.org/rosinstalls/wg_latest_devel.rosinstall in an > overlay. > > Are there some steps I can take to try to debug this problem? Has > anyone else experienced this type of issue with the new camera1394 > driver? I am seeing similar problems. I tried it briefly yesterday, but did not have time to dig very deeply. Here is a follow-up report on where I am so far... On my system, image_proc is *not* subscribing to the image_raw output from the driver. The image_view node *does* subscribe and works fine. joq@vision-4:~$ rosnode info /test_camera/camera/image_proc_1269693701464224000 -------------------------------------------------------------------------------- Node [/test_camera/camera/image_proc_1269693701464224000] Publications: * /rosout [roslib/Log] * /test_camera/camera/image_mono [sensor_msgs/Image] * /test_camera/camera/image_rect/compressed [sensor_msgs/CompressedImage] * /test_camera/camera/image_mono/compressed [sensor_msgs/CompressedImage] * /test_camera/camera/image_color/compressed [sensor_msgs/CompressedImage] * /test_camera/camera/image_mono/theora [theora_image_transport/packet] * /test_camera/camera/image_rect [sensor_msgs/Image] * /test_camera/camera/image_rect_color/theora [theora_image_transport/packet] * /test_camera/camera/image_rect/theora [theora_image_transport/packet] * /test_camera/camera/image_color [sensor_msgs/Image] * /test_camera/camera/image_color/theora [theora_image_transport/packet] * /test_camera/camera/image_rect_color/compressed [sensor_msgs/CompressedImage] * /test_camera/camera/image_rect_color [sensor_msgs/Image] Subscriptions: * /time [unknown type] * /clock [unknown type] Services: * /test_camera/camera/image_proc_1269693701464224000/get_loggers * /test_camera/camera/image_proc_1269693701464224000/set_logger_level contacting node http://vision-4:40010/ ... Pid: 23544 Connections: * topic: /rosout * to: /rosout * direction: outbound * transport: TCPROS joq@vision-4:~$ rosnode info /image_view_1269390714813267000 -------------------------------------------------------------------------------- Node [/image_view_1269390714813267000] Publications: * /rosout [roslib/Log] Subscriptions: * /time [unknown type] * /clock [unknown type] * /test_camera/camera/image_raw [sensor_msgs/Image] Services: * /image_view_1269390714813267000/get_loggers * /image_view_1269390714813267000/set_logger_level contacting node http://vision-4:47223/ ... Pid: 22116 Connections: * topic: /rosout * to: /rosout * direction: outbound * transport: TCPROS * topic: /test_camera/camera/image_raw * to: http://vision-4:41029/ * direction: inbound * transport: TCPROS (Note the missing subscription to /test_camera/camera/image_raw [sensor_msgs/Image] for the image_proc node.) I can't tell whether this may be what is happening to you as well. I don't know why the topic is not subscribed, but that explains why no data are published farther down the pipeline. I used the ROS_NAMESPACE=/test_camera/camera trick for starting image_proc. Maybe I am doing something wrong, but that is not clear from the http://ros.org/wiki/image_proc docs. Is there any more documentation on that node? Does it really have no parameters? I am running all this with the boxturtle release on Ubuntu 9.10. Since I am new to image_proc, pointers or suggestions from everyone would be helpful. -- joq