I modified the buffer to take up to 500 messages but with no results. While debugging, I noticed that the cloudCallback function doesn't seem to be called (though my cloud_in parameter is definitely correct and the point cloud is being published). I'll try to debug a bit more tomorrow, but if anyone has a clue about what problem I may have with the robot_self_filter, it would save me some work :) Cheers, Ugo On Mon, 2011-01-10 at 10:33 -0800, Tully Foote wrote: > Hi Ugo, > > The debugging output suggests that your message filter buffer is only > sized with one message which means that if new data comes in faster > than the last piece of data can be transformed it will end up dropping > everything. You will need to update the message filter to have a > larger buffer. I believe when we're using this for the PR2 the > expected rate of the point cloud arriving is noteably lower than the > 30Hz of the Kinect. > > Tully > > On Mon, Jan 10, 2011 at 9:59 AM, Ugo Cupcic > wrote: > 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 > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > > > -- > Tully Foote > Systems Engineer > Willow Garage, Inc. > tfoote@willowgarage.com > (650) 475-2827 -- 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