Use PR2 for complete tf trees

[miguelriemoliveira]

No description provided.

[miguelriemoliveira]

Hi @afonsocastro , I am not sure it is very easy to collect data from a PR2 as was your task.

I will try to find a rosbag file of a real PR2 in my backups. Will get back to you on this...

[afonsocastro]

I was trying to get one already. Actually, it's not the simplest thing... i will wait for that rosbag

[afonsocastro]

Right now, i have this. It's needed to set 'false' the car_model parameter when we run the launch file in order to see the pr2 robot instead of the car model. I will add this to read.me file

[miguelriemoliveira]

Great. I will search for the bag file and get back to you ...

[afonsocastro]

When it comes to parse the PR2 xacro, there are some problems occurring as the 'type' attribute and the 'compensator' tag are unknown in some links. I'll review this later

[miguelriemoliveira]

Not very important I think. I will create a low priority issue for this.

[miguelriemoliveira]

Hi @afonsocastro . I email my friend. Let's see what he replies.

Also I found this. Can you check if you can find a bag file with multiple sensors?

http://projects.csail.mit.edu/stata/downloads.php

[miguelriemoliveira]

I took a look and recomend this bag:

2012-01-25-12-14-25.bag

http://infinity.csail.mit.edu/data/2012/2012-01-25-12-14-25.bag

Should contain multiple cameeas and lasers.

path: 2012-01-25-12-14-25.bag
version: 2.0
duration: 1130.292904
start: 1327522466.090780
end: 1327523596.383684
size: 52374992833
messages: 682837
indexed: True
compression: none
types:
    - type: geometry_msgs/PoseWithCovarianceStamped
      md5: 953b798c0f514ff060a53a3498ce6246
    - type: nav_msgs/Odometry
      md5: cd5e73d190d741a2f92e81eda573aca7
    - type: pr2_mechanism_controllers/BaseOdometryState
      md5: 8a483e137ebc37abafa4c26549091dd6
    - type: pr2_mechanism_controllers/Odometer
      md5: 1f1d53743f4592ee455aa3eaf9019457
    - type: sensor_msgs/CameraInfo
      md5: c9a58c1b0b154e0e6da7578cb991d214
    - type: sensor_msgs/Image
      md5: 060021388200f6f0f447d0fcd9c64743
    - type: sensor_msgs/Imu
      md5: 6a62c6daae103f4ff57a132d6f95cec2
    - type: sensor_msgs/LaserScan
      md5: 90c7ef2dc6895d81024acba2ac42f369
    - type: std_msgs/Bool
      md5: 8b94c1b53db61fb6aed406028ad6332a
    - type: tf/tfMessage
      md5: 94810edda583a504dfda3829e70d7eec
topics:
    - topic: /base_odometry/odom
      type: nav_msgs/Odometry
      messages: 104484
      frequency: 44150.5684
    - topic: /base_odometry/odometer
      type: pr2_mechanism_controllers/Odometer
      messages: 1130
      frequency: 1.0000
    - topic: /base_odometry/state
      type: pr2_mechanism_controllers/BaseOdometryState
      messages: 1130
      frequency: 1.0000
    - topic: /base_scan
      type: sensor_msgs/LaserScan
      messages: 22542
      frequency: 20.0033
    - topic: /camera/depth/camera_info
      type: sensor_msgs/CameraInfo
      messages: 33758
      frequency: 30.7120
    - topic: /camera/depth/image_raw
      type: sensor_msgs/Image
      messages: 33758
      frequency: 30.8725
    - topic: /camera/rgb/camera_info
      type: sensor_msgs/CameraInfo
      messages: 33790
      frequency: 31.1159
    - topic: /camera/rgb/image_raw
      type: sensor_msgs/Image
      messages: 33790
      frequency: 31.0505
    - topic: /robot_pose_ekf/odom_combined
      type: geometry_msgs/PoseWithCovarianceStamped
      messages: 32549
      frequency: 24.9826
    - topic: /tf
      type: tf/tfMessage
      messages: 117750
      connections: 2
      frequency: 556.0525
    - topic: /tilt_scan
      type: sensor_msgs/LaserScan
      messages: 22541
      frequency: 19.9918
    - topic: /torso_lift_imu/data
      type: sensor_msgs/Imu
      messages: 113020
      frequency: 100.0049
    - topic: /torso_lift_imu/is_calibrated
      type: std_msgs/Bool
      messages: 1
    - topic: /wide_stereo/left/camera_info
      type: sensor_msgs/CameraInfo
      messages: 33152
      frequency: 29.4106
    - topic: /wide_stereo/left/image_raw
      type: sensor_msgs/Image
      messages: 33152
      frequency: 29.4096
    - topic: /wide_stereo/right/camera_info
      type: sensor_msgs/CameraInfo
      messages: 33145
      frequency: 29.4102
    - topic: /wide_stereo/right/image_raw
      type: sensor_msgs/Image
      messages: 33145
      frequency: 29.4098

[miguelriemoliveira]

It contains over 1000 secs and is a 40GB file.

I have no space for this ... @afonsocastro can you download and create a smaller bag file, say with 1 or 2 minutes only?

[miguelriemoliveira]

How to split a bag file:
https://answers.ros.org/question/99711/how-to-split-a-recorded-rosbag-file/

[afonsocastro]

Yes, i'll do it

[miguelriemoliveira]

This is working already. To run just do

roslaunch interactive_marker_test pr2_calibration.launch