[ros-users] tabletop detection error

Thu Mar 24 12:16:17 UTC 2011

Hi Matei,

I do not know what the problem is either. Actually it is working fine in
another computer with similar settings.
I can not see the point cloud in rviz, as it crashes (my computed is stuck)
when running the manipulation pipeline, so I only have gazebo for
visualization.
About the sensor, I do not think it is too close to the table. Actually I
point the head of the PR2 to the table. Then during the process, the head is
moved up and down, so I make sure that the table is detected.
It looks to me that changing (reducing) the inlier_thresold rosparam is not
the best solution, but I cannot think of anything else now...
In the end, it will probably be a silly thing, but I can not find it out
now...

Best regards,

Rafa

2011/3/23 Matei Ciocarlie <matei at willowgarage.com>

> Hi Rafa,
>
> Not sure what could be the problem... The error message means that the
> dominant plane that is detected does not have enough points to be
> trustworthy. Are you visualizing the point cloud in rviz and it looks
> fine? Maybe the sensor is too close to the table?
>
> That threshold is in the tabletop_object_perception package, in the
> src/tabletop_niode.cpp. You can change it from the launch file, i.e.
> set the "inlier_threshold" rosparam for that node to want you want it
> to be. However, if you're getting just 142 points, something else is
> probably wrong...
>
> Matei
>
> On Wed, Mar 23, 2011 at 8:18 AM, Rafa <rlopez at robotnik.es> wrote:
> > Hi all,
> >
> > I am getting an error when calling the tabletop detection for a pick and
> > place application. At some part of the execution, after receiving and
> > processing the point cloud it happens that
> > ..."Plane detection has 142 inliers, below min threshold of 300" ...
> > for the three scheduled times, and always without reaching the threshold
> > of 300.
> > Any hint?
> > Where is that threshold defined?
> >
> > It is more than curious that the same script is currently working fine
> > in other computer which apparently has the same settings....
> >
> > Best regards,
> >
> > Rafa
> >
> >
> >
> > --
> > ------------------------------------------------
> > Rafa López Tarazón
> > Director I+D+i / R&D Manager
> > -------------------------------------------------
> > Robotnik Automation, SLL
> > C/Berni y Catala, 53 bajo
> > 46019 - VALENCIA - SPAIN
> > -------------------------------------------------
> > Tel:       +34 963383835
> > Fax:      +34 963383580
> > E-mail:  rlopez at robotnik.es
> > Internet:  http://www.robotnik.es
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>
> --
> Matei Ciocarlie
> Research Scientist
> Willow Garage Inc.
> 650-475-9780
>

-- 
------------------------------------------------
Rafael López
Director I+D / R&D Manager
-------------------------------------------------
Robotnik Automation, SLL
C/Berni y Catala, 53 bajo
46019 - VALENCIA - SPAIN
-------------------------------------------------
Tel:       +34 963383835
Fax:      +34 963383580
E-mail:  rlopez at robotnik.es
Internet:  http://www.robotnik.es
-------------------------------------------------
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