[ros-users] self_filter dropping all the messages

[Tully Foote]

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 at 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 at 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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>



-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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