Testing launch file?

[limhyon]

Hi.
I think you are currently running this ros package.
If this is the case, there must be a launch file to run this package.
Could you share your launch file?

[plnegre]

Yes, we have uploaded a demo launch file in viso2/viso2_ros/launch/demo.launch.

[limhyon]

Thank you very much.
Could you upload sample rosbag file that is displayed in ros wiki?
It will be a good starting point to others.

-Hyon

This mail was written in mobile phone.

On 2013. 3. 4., at 오후 5:43, "Pep Lluís Negre" notifications@github.com
wrote:

Yes, we have uploaded a demo launch file in
viso2/viso2_ros/launch/demo.launch.

—
Reply to this email directly or view it on
GitHubhttps://github.com//issues/6#issuecomment-14369946
.

[miquelmassot]

Hi limhyon,
I just edited viso2_ros wiki and added a link to our bagfiles. Please, feel free to try them out in your machine.

[limhyon]

Hi. Could you look my launch file?
I'm testing with kitti dataset from
http://www6.in.tum.de/~kloses/rvc/kitti_bags.
I got following error, even all connections looks okay.

[ WARN] [1362411046.183769434, 1342792580.882561857]: [stereo_processor]
Low number of synchronized left/right/left_info/right_info tuples received.
Left images received: 0 (topic '/kitti_stereo/left/image_rect')
Right images received: 0 (topic '/kitti_stereo/right/image_rect')
Left camera info received: 0 (topic '/kitti_stereo/left/camera_info')
Right camera info received: 0 (topic '/kitti_stereo/right/camera_info')
Synchronized tuples: 0
Possible issues:
* stereo_image_proc is not running.
Does rosnode info /stereo_odometer show any connections?
* The cameras are not synchronized.
Try restarting the node with parameter _approximate_sync:=True
* The network is too slow. One or more images are dropped from each
tuple.
Try restarting the node, increasing parameter 'queue_size' (currently
5)

Below is my launch file modified.

On Mon, Mar 4, 2013 at 6:43 PM, Miquel Massot notifications@github.comwrote:

Hi limhyon,
I just edited viso2_ros wiki and added a link to our bagfiles. Please,
feel free to try them out in your machine.

—
Reply to this email directly or view it on GitHubhttps://github.com//issues/6#issuecomment-14372079
.

[miquelmassot]

The name of the camera topic in your bagfiles is "kitty_stereo", without backslash or "i". Remove also stereo image proc as the images are already rectified.

[limhyon]

Oh. Thanks. It was my fault :-)
By the way, I have downloaded the bag file you have shared.
Could you also share disparity_params.yaml for this bag file?
And how can I reproduce the result in the ROS wiki (youtube video) with
your dataset?

Thank you in advance! :-)
-Hyon

On Tue, Mar 5, 2013 at 12:51 AM, Miquel Massot notifications@github.comwrote:

The name of the camera topic in your bagfiles is "kitty_stereo", without
backslash or "i". Remove also stereo image proc as the images are already
rectified.

—
Reply to this email directly or view it on GitHubhttps://github.com//issues/6#issuecomment-14387340
.

[miquelmassot]

I used the following params:

prefilter_size: 9
prefilter_cap: 31
correlation_window_size: 17
min_disparity: 20
disparity_range: 96
uniqueness_ratio: 10
texture_threshold: 10
speckle_size: 200
speckle_range: 4

and in order to obtain that reconstruction, I used rviz with dense PointCloud2 (stereo_down/points2) from the camera and a long decay time.

if you need the tf from baselink to stereo_down, use a static transform publisher with xyz="0 0 0.095" and rpy="0 -1.5708 0".