[ros-users] vSLAM demo?

[Helen Oleynikova]

Hi Poojav,
I just wrote up a tutorial on using the stereo_vslam_node that you may find
helpful:
http://www.ros.org/wiki/vslam_system/Tutorials/RunningVslamOnStereoData
If the node was receiving the images correctly, you should see callback
printouts in the terminal where you ran roslaunch from. If you are not
seeing these (or not seeing anything), most likely the subscription is not
working correctly. I'm guessing that the problem is that the topics aren't
synchronized: stereo_vslam_node expects all 4 topics (left/image_rect,
right/image_rect, left/camera_info, right/camera_info) to be published
synchronously; that is, all 4 topics should have identical timestamps.
If this is the case, and you're still having problems, it would be helpful
if you could record a bag of your data.
Thanks,
Helen

On Wed, Aug 18, 2010 at 5:03 PM, poojav <poojavish at gmail.com> wrote:

>
> Hey Rishi, a few colleagues and I are trying to get the demo working as
> well
> with a Bumblebee camera and a SICK laser.  For now, we're just trying to
> view the visual odometry results on the Willow Garage map as in the
> test_bag.launch file, but it doesn't seem to be working.  We changed the
> subscriptions in the stereo_vslam_node.cpp to match the location of our
> publishing of the rectified images and camera info (looks like that's as
> far
> as you got as well).  However, we don't seem to be getting anything.  I'm
> still trying to figure out if we're publishing correctly, but I'm wondering
> if there happened to be anything else you changed - if you got it all
> working.  Thanks!
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/vSLAM-demo-tp966627p1217256.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
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