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 <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
>
> _______________________________________________
> 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