On Mon, Jan 10, 2011 at 9:59 AM, Ugo Cupcic
<ugo@shadowrobot.com> 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
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