Hi, I'm now trying to get the robot_self_filter self_filter to filter my robot from my point_cloud. I tried different parameters but couldn't get it to work. I must be missing something. I convert the PointCloud2 from the kinect to a PointCloud on the topic /camera/depth/points. My robot is publishing tf for all the joints. I'm getting this warning (you can get a longer log at the end of the message): [ WARN] [1294682275.522087372]: MessageFilter [target=/forearm_motor /palm /wrist ]: Dropped 100.00% of messages so far. Please turn the [ros.robot_self_filter.message_notifier] rosconsole logger to DEBUG for more information. And when I turn [ros.robot_self_filter.message_notifier] to DEBUG: [DEBUG] [1294682309.075618256]: MessageFilter [target=/forearm_motor /palm /wrist ]: Removed oldest message because buffer is full, count now 1 (frame_id=openni_rgb_optical_frame, stamp=1294682308.910080) [DEBUG] [1294682309.083288116]: MessageFilter [target=/forearm_motor /palm /wrist ]: Added message in frame openni_rgb_optical_frame at time 1294682308.958, count now 1 [DEBUG] [1294682309.172117748]: MessageFilter [target=/forearm_motor /palm /wrist ]: Removed oldest message because buffer is full, count now 1 (frame_id=openni_rgb_optical_frame, stamp=1294682308.957906) [DEBUG] [1294682309.186250788]: MessageFilter [target=/forearm_motor /palm /wrist ]: Added message in frame openni_rgb_optical_frame at time 1294682309.015, count now 1 Here are the parameters I use: http://pastebin.com/j0PFthsJ And the self_filter.yaml file associated with it: http://pastebin.com/iSWmhs2D Any idea? Cheers, Ugo process[point_cloud_converter-1]: started with pid [25587] process[kinect_self_filter-2]: started with pid [25588] process[fixed_to_kinect-3]: started with pid [25590] process[objects_database_node-4]: started with pid [25599] process[tabletop_node-5]: started with pid [25609] [ INFO] [1294681799.315133466]: PointCloudConverter initialized to transform from PointCloud (/points_in) to PointCloud2 (/points2_out). [ INFO] [1294681799.315232322]: PointCloudConverter initialized to transform from PointCloud2 (/camera/depth/points2) to PointCloud (/camera/depth/points). process[shadowhand-6]: started with pid [25668] process[srh_robot_state_publisher_pos-7]: started with pid [25673] process[srh_robot_state_publisher_target-8]: started with pid [25678] process[fixed_frame_pos_pub-9]: started with pid [25686] process[fixed_frame_target_pub-10]: started with pid [25691] [ INFO] [1294681799.502376239]: Self see link name palm padding 0.01 [ INFO] [1294681799.502613585]: Self see link name wrist padding 0.01 [ INFO] [1294681799.502656984]: Self see link name forearm_motor padding 0.01 process[diagnostic_aggregator-11]: started with pid [25699] process[cluster_bounding_box_finder-12]: started with pid [25704] [ INFO] [1294681799.516574739]: waitForService: Service [/objects_database_node/get_model_mesh] has not been advertised, waiting... [ INFO] [1294681799.576603709]: waitForService: Service [/objects_database_node/get_model_mesh] is now available. [ INFO] [1294681799.634490455]: Object detector: loading object models [ INFO] [1294681799.915475927]: Loaded database model with id 18800 [INFO] 1294681800.338782: cluster bounding box finder is ready for queries [ INFO] [1294681800.405700842]: Loaded database model with id 18798 [ INFO] [1294681800.575854702]: Loaded database model with id 18783 [ INFO] [1294681801.802315743]: Loaded database model with id 18665 [ INFO] [1294681802.502216302]: Loaded database model with id 18685 [ INFO] [1294681802.761398979]: Loaded database model with id 18802 [ WARN] [1294681803.166936016]: Message from [/point_cloud_converter] has a non-fully-qualified frame_id [openni_rgb_optical_frame]. Resolved locally to [/openni_rgb_optical_frame]. This is will likely not work in multi-robot systems. This message will only print once. [ INFO] [1294681809.383327638]: Object detector: loading complete [ WARN] [1294681814.531755631]: MessageFilter [target=/forearm_motor /palm /wrist ]: Dropped 100.00% of messages so far. Please turn the [ros.robot_self_filter.message_notifier] rosconsole logger to DEBUG for more information. -- Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com Software Engineer | 251 Liverpool Road | need a Hand? | London N1 1LX | +44 20 7700 2487 http://www.shadowrobot.com/hand/ @shadowrobot