[ros-users] pcl_ros outlier removal

[Arbeiter, Georg]

Hi,

When I try to run the following launch file:

<launch>
<node pkg="pcl_ros" type="pcd_to_pointcloud" name="pcd_to_pointcloud" 
args="$(find pcl_tutorials)/data/table_scene_mug_stereo_textured.pcd 1" 
output="screen">
<remap from="/cloud_pcd" to="/scene_pointcloud2" />
</node>


<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" 
output="screen" />

<!-- Run a StatisticalOutlierRemoval filter -->
<node pkg="nodelet" type="nodelet" name="outlier_removal" args="load 
pcl/StatisticalOutlierRemoval pcl_manager" output="screen">
<remap from="~input" to="/scene_pointcloud2" />
<rosparam>
       mean_k: 50
       stddev: 1.0
       negative: False
</rosparam>
</node>

</launch>

and than try to visualize the output in RViz I always get
[ WARN] [1297099189.315140446]: 
[pcl::StatisticalOutlierRemoval::applyFilter] Searching for the closest 
50 neighbors failed.

and no point cloud is shown. rostopic echo /scene_pointcloud2 outputs a 
lot of numbers which seem to be correct and no warning is shown.
What am I doing wrong?

Regards,
Georg

-- 
Dipl.-Ing. Georg Arbeiter, Fraunhofer IPA
Robotersysteme
Nobelstrasse 12, 70569 Stuttgart
Telefon 0711-970-1299, Fax 0711-970-1008
mailto:georg.arbeiter at ipa.fraunhofer.de
http://ipa.fraunhofer.de