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[jsk_pr2_startup/pr2_gazebo.launch] add pr2_gazebo.launch #365

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merged 4 commits into from
Jul 7, 2015
Merged

[jsk_pr2_startup/pr2_gazebo.launch] add pr2_gazebo.launch #365

merged 4 commits into from
Jul 7, 2015

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furushchev
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pr2_gazebo.launch is gazebo version of pr2.launch with disabling hardware dependent nodes

Now it works at the development level like image below:

pr2_gazebo

@furushchev furushchev mentioned this pull request Jul 6, 2015
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@furushchev
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BTW, when launching pr2_gazebo.launch and RViZ on my macbook pro retina, it takes cpu load about 33.0 and real time factor 0.22, wow...

@k-okada
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k-okada commented Jul 6, 2015

why we need
https://github.com/jsk-ros-pkg/jsk_robot/pull/365/files#diff-84a1a248eceac3613a6243f31cc35f6dR23

please compare with pr2_empty_world.launch, I assume it is mainly python
code take more cpu resources the we expecting, see to
http://answers.ros.org/question/29425/rospy-horrible-performance-with-sim_time/

Can we try slow simulation or clock step?

◉ Kei Okada

On Mon, Jul 6, 2015 at 10:08 AM, Furushchev notifications@github.com
wrote:

BTW, when launching pr2_gazebo.launch and RViZ on my macbook pro retina,
it takes cpu load about 33.0 and real time factor 0.22, wow...

—
Reply to this email directly or view it on GitHub
#365 (comment)
.

@furushchev
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in roslaunch pr2_gazebo pr2_empty_world.launch:

$ rostopic list|grep kinect
/head_mount_kinect/depth/camera_info
/head_mount_kinect/depth/image_raw
/head_mount_kinect/depth/image_raw/compressed
/head_mount_kinect/depth/image_raw/compressed/parameter_descriptions
/head_mount_kinect/depth/image_raw/compressed/parameter_updates
/head_mount_kinect/depth/image_raw/compressedDepth
/head_mount_kinect/depth/image_raw/compressedDepth/parameter_descriptions
/head_mount_kinect/depth/image_raw/compressedDepth/parameter_updates
/head_mount_kinect/depth/image_raw/theora
/head_mount_kinect/depth/image_raw/theora/parameter_descriptions
/head_mount_kinect/depth/image_raw/theora/parameter_updates
/head_mount_kinect/depth/points
/head_mount_kinect/depth_registered/points
/head_mount_kinect/rgb/camera_info
/head_mount_kinect/rgb/image_raw
/head_mount_kinect/rgb/image_raw/compressed
/head_mount_kinect/rgb/image_raw/compressed/parameter_descriptions
/head_mount_kinect/rgb/image_raw/compressed/parameter_updates
/head_mount_kinect/rgb/image_raw/compressedDepth
/head_mount_kinect/rgb/image_raw/compressedDepth/parameter_descriptions
/head_mount_kinect/rgb/image_raw/compressedDepth/parameter_updates
/head_mount_kinect/rgb/image_raw/theora
/head_mount_kinect/rgb/image_raw/theora/parameter_descriptions
/head_mount_kinect/rgb/image_raw/theora/parameter_updates
/head_mount_kinect_ir/parameter_descriptions
/head_mount_kinect_ir/parameter_updates
/head_mount_kinect_rgb/parameter_descriptions
/head_mount_kinect_rgb/parameter_updates
rostopic echo -n1 /head_mount_kinect/rgb/image_raw |head
header: 
  seq: 0
  stamp: 
    secs: 175
    nsecs: 953000000
  frame_id: head_mount_kinect_rgb_optical_frame
height: 480
width: 640
encoding: rgb8  # <- this is rgb8!
is_bigendian: 0

On the other hand, in real robot pr1012,

rostopic echo -n1 /kinect_head/rgb/image_raw |head
header: 
  seq: 1014993
  stamp: 
    secs: 1436150079
    nsecs: 912600756
  frame_id: /head_mount_kinect_rgb_optical_frame
height: 480
width: 640
encoding: bayer_grbg8  # <- bayer image
is_bigendian: 0

and I assumes that image_raw on gazebo and real robot is already different, so I copied the part which you quoted from rgbd_launch/launch/includes/rgb.launch.xml included in openni_launch/openni.launch

@k-okada
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k-okada commented Jul 6, 2015

include rgb.launch.xml ?

◉ Kei Okada

On Mon, Jul 6, 2015 at 11:45 AM, Furushchev notifications@github.com
wrote:

in roslaunch pr2_gazebo pr2_empty_world.launch:

$ rostopic list|grep kinect
/head_mount_kinect/depth/camera_info
/head_mount_kinect/depth/image_raw
/head_mount_kinect/depth/image_raw/compressed
/head_mount_kinect/depth/image_raw/compressed/parameter_descriptions
/head_mount_kinect/depth/image_raw/compressed/parameter_updates
/head_mount_kinect/depth/image_raw/compressedDepth
/head_mount_kinect/depth/image_raw/compressedDepth/parameter_descriptions
/head_mount_kinect/depth/image_raw/compressedDepth/parameter_updates
/head_mount_kinect/depth/image_raw/theora
/head_mount_kinect/depth/image_raw/theora/parameter_descriptions
/head_mount_kinect/depth/image_raw/theora/parameter_updates
/head_mount_kinect/depth/points
/head_mount_kinect/depth_registered/points
/head_mount_kinect/rgb/camera_info
/head_mount_kinect/rgb/image_raw
/head_mount_kinect/rgb/image_raw/compressed
/head_mount_kinect/rgb/image_raw/compressed/parameter_descriptions
/head_mount_kinect/rgb/image_raw/compressed/parameter_updates
/head_mount_kinect/rgb/image_raw/compressedDepth
/head_mount_kinect/rgb/image_raw/compressedDepth/parameter_descriptions
/head_mount_kinect/rgb/image_raw/compressedDepth/parameter_updates
/head_mount_kinect/rgb/image_raw/theora
/head_mount_kinect/rgb/image_raw/theora/parameter_descriptions
/head_mount_kinect/rgb/image_raw/theora/parameter_updates
/head_mount_kinect_ir/parameter_descriptions
/head_mount_kinect_ir/parameter_updates
/head_mount_kinect_rgb/parameter_descriptions
/head_mount_kinect_rgb/parameter_updates

rostopic echo -n1 /head_mount_kinect/rgb/image_raw |head
header:
seq: 0
stamp:
secs: 175
nsecs: 953000000
frame_id: head_mount_kinect_rgb_optical_frame
height: 480
width: 640
encoding: rgb8 # <- this is rgb8!
is_bigendian: 0

On the other hand, in real robot pr1012,

rostopic echo -n1 /kinect_head/rgb/image_raw |head
header:
seq: 1014993
stamp:
secs: 1436150079
nsecs: 912600756
frame_id: /head_mount_kinect_rgb_optical_frame
height: 480
width: 640
encoding: bayer_grbg8 # <- bayer image
is_bigendian: 0

and I assumes that image_raw on gazebo and real robot is already
different, so I copied the part which you quoted from
rgbd_launch/launch/includes/rgb.launch.xml included in
openni_launch/openni.launch

—
Reply to this email directly or view it on GitHub
#365 (comment)
.

@furushchev
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I included rgb.launch.xml instead of copying.
0918bf0

garaemon added a commit that referenced this pull request Jul 7, 2015
@garaemon
Merge pull request #365 from furushchev/pr2-gazebo-mode
8bf47a9 
[jsk_pr2_startup/pr2_gazebo.launch] add pr2_gazebo.launch
@garaemon garaemon merged commit 8bf47a9 into jsk-ros-pkg:master Jul 7, 2015
@k-okada
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k-okada commented Jul 9, 2015

@YuOhara @otsubo シミュレーションが重いのは以下の話の可能性が高いので

http://answers.ros.org/question/29425/rospy-horrible-performance-with-sim_time/

クロックを200hzぐらいにしてどうなるか確認してみて下さい．

◉ Kei Okada

On Mon, Jul 6, 2015 at 11:22 AM, Kei Okada k-okada@jsk.t.u-tokyo.ac.jp
wrote:

why we need
https://github.com/jsk-ros-pkg/jsk_robot/pull/365/files#diff-84a1a248eceac3613a6243f31cc35f6dR23

please compare with pr2_empty_world.launch, I assume it is mainly python
code take more cpu resources the we expecting, see to
http://answers.ros.org/question/29425/rospy-horrible-performance-with-sim_time/

Can we try slow simulation or clock step?

◉ Kei Okada

On Mon, Jul 6, 2015 at 10:08 AM, Furushchev notifications@github.com
wrote:

BTW, when launching pr2_gazebo.launch and RViZ on my macbook pro retina,
it takes cpu load about 33.0 and real time factor 0.22, wow...

—
Reply to this email directly or view it on GitHub
#365 (comment)
.

@furushchev furushchev mentioned this pull request Aug 7, 2015
Closed
garaemon added a commit that referenced this pull request Nov 6, 2015
@garaemon
Merge pull request #365 from furushchev/pr2-gazebo-mode
e30ccc6 
[jsk_pr2_startup/pr2_gazebo.launch] add pr2_gazebo.launch
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3 participants
@furushchev @k-okada @garaemon