PointCloud for Pepper: Can not see the pointcloud using pepper_bringup python launcher

[Igor Rodriguez]

Hello, 

I have tried to get working Pepper with ROS from external pc using naoqi_bridge with not success. When I launch the pepper_bringup python launcher, I can see that there are two images, one for the front camera and another one for depth. I can see both in rviz as "normal" image, but when I try to visualise the pointcloud I can not see it. Anyone has a similar problem?

Thanks in advance

[Natalia Lyubova]

Hello Igor,

which topic did you try to visualize as a PointCloud?

[Igor Rodriguez]

Sorry but I do not know if I have already answered you. The topic I am trying to visualise is /pepper_robot/camera/depth_registered/points

[Florian Lier]

I guess there is something wrong with your perception pipeline. Check if the points are even published.

On Tuesday, April 25, 2017 at 4:57:16 PM UTC+2, Igor Rodriguez wrote:

[Igor Rodriguez]

I got it working with naoqi_driver package (C++) driver. But with python nodes it does not work. And I don't know the reason. Thanks

[Aman Gill]

Hi, I am running C++ pepper_bringup, but still can't visualize point cloud in Rviz. Is it because of the Fixed Frame: Fixed Frame [map] does not exist error that I'm getting in Rviz. Any help? Thanks

[Aman Gill]

I'm getting the following warning,

[ WARN] [1518440442.164297252]: TF2 exception:
Lookup would require extrapolation into the future.  Requested time 1518440442.161958100 but the latest data is at time 1518440441.920298373, when looking up transform from frame [CameraDepth_optical_frame] to frame [CameraTop_optical_frame]

without any visualizations.

[Aman Gill]

Solved by changing Time::now() to Time(0).

[Lahiru Herath]

Have you found a workaround this?

On Tuesday, April 25, 2017 at 4:57:16 PM UTC+2, Igor Rodriguez wrote:

[Lorenzo Barranco]

Sorry can I ask how did you solve? I have the same problem and I don't understand where did you changed that parameter and why.

[Lahiru Herath]

Hi,

Nope couldn't get it solved with the pepper bring up package. However since you can see the depth image, can use the camera info and this to generate a poincloud using image pipeline.

Link - http://wiki.ros.org/image_pipeline

clone that package and load the nodelet depth image to pointcloud, the launch file goes something like this.

<!-- Nodelet manager for point_cloud-->

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

<node pkg="nodelet" type="nodelet" name="cloudify" args="load depth_image_proc/point_cloud_xyz manager">

    <remap from="camera_info" to="/pepper_interface/depth/camera_info"/>

    <remap from="image_rect" to="/pepper_interface/depth/image"/>

</node>

*output topic would be /points

Cheers

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Thank You,

Best Regards,

Lahiru Herath

+4915734394980

[Frederik Scholz]

Hello Lahiru,

I can't seem to get depth image to pointcloud working with naoqi_driver, do you maybe have an example launch file I could take a look at? I'm pretty new to this.

Thanks in advance!

[Lahiru Herath]

Hi,

My previous email should work. Just launch the pepper bringup according to ros wiki page as usual. And then launch the image pipeline node.

<launch>

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

<node pkg="nodelet" type="nodelet" name="cloudify" args="load depth_image_proc/point_cloud_xyz manager">

    <remap from="camera_info" to="/pepper_interface/depth/camera_info"/>

    <remap from="image_rect" to="/pepper_interface/depth/image"/>

</node>

</launch>

"/pepper_interface/depth/camera_info" - change this to whatever the topic of camera info

"/pepper_interface/depth/image" - this to whatever the topic of depth image

you can go through the topics using rostopic list and find out these two topics of the depth camera

To view this discussion on the web visit https://groups.google.com/d/msgid/ros-sig-aldebaran/0e9fbe37-6e47-4f9b-b835-ad48b49691f7%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.