[ros-users] self_filter dropping all the messages

Ugo Cupcic ugo at shadowrobot.com
Tue Jan 11 17:34:42 UTC 2011


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 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
>         
>         _______________________________________________
>         ros-users mailing list
>         ros-users at code.ros.org
>         https://code.ros.org/mailman/listinfo/ros-users 
> 
> 
> 
> -- 
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com
> (650) 475-2827

-- 
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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