[ros-users] tabletop detection error

Thu Mar 24 20:38:30 UTC 2011

Hi Rafael,
I would strongly recommend using a computer on which rviz works,
because it is nigh-impossible to debug/see what is going on in the
manipulation pipeline without it.  While doing table detection, there
is no point in moving the head up and down; only a single static shot
is taken and used.  I would say that perhaps the robot happened to not
be looking at the table when the snapshot is taken, except that you
say it works exactly in the same way on a different computer.

-Kaijen

On Thu, Mar 24, 2011 at 5:16 AM, Rafael López <rlopez at robotnik.es> wrote:
> 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
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>> > 46019 - VALENCIA - SPAIN
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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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