Comments (9)
do you have a bag with some data?
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do you have a bag with some data?
Thanks for your quick response!
I recorded the laserscan and uploaded it here:
https://drive.google.com/file/d/1zpugHnILWYGGUH686pbKak7r3IzMwbq7/view?usp=sharing
Altough it has some errors stating:
`For frame [/frnt_cam_p2l]: Fixed Frame [map] does not exist'
Here is my tf-tree:
https://drive.google.com/file/d/1yToZ48NtmCslbveEh5wmPaDoPBwmPaOz/view?usp=sharing
I uploaded a short video which shows the pointcloud, and how the laserscan is visualized.
https://youtu.be/gBR92UYLipE
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It has been a very long time since the last time I used this tool, we mainly use the laser merger one. However, let's see, the laser data in your bag (that is that output from the virtualizer I suppose) is in the frame frnt_cam_p2l. The original point cloud points in which frame are they in? I suppose laser_link, am I correct? Could you upload a bag with TF as the point cloud as well?
From the bagfile:
header: seq: 1457 stamp: secs: 161 nsecs: 825000000 frame_id: /frnt_cam_p2l angle_min: -3.1400001049 angle_max: 3.1400001049 angle_increment: 0.00579999992624 time_increment: 0.0 scan_time: 0.0333333313465 range_min: 0.449999988079 range_max: 25.0
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My plan is to convert the pointclouds to laserscan, then merge four laserscans with the multi-merger.
I realize that I might have configured the launch file incorrect. The pointcloud comes from the frnt_cam_opt frame. The frame where I want the new laser scan (frnt_scan) is frnt_cam_p2l. Ultimately I want to merge my four laserscan to the laser_lnk frame.
I have uploaded two .bag files, one contains tf and laserscan, the other contains tf and pointcloud.
Tf and laser:
https://drive.google.com/file/d/1M0P72A9AXiJY7WzBDJGQH_OFTCz6JVJh/view?usp=sharing
Tf and pointcloud:
https://drive.google.com/file/d/1ajPpfPThBCS3gpvTRVtYUdZl62lSfC8G/view?usp=sharing
The pointcloud .bag file is very large, maybe I have to reduce the resolution from the kinect plugin?
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from your bag file (the tf points) it seems that you're publishing the transformation between these two frames always at the same time, to be clear, not with row::time::now()
I'm not sure if this might be the issue, but could you please check? TF has a standard time-window with 10 secs..
so your configuration is 4 kinects on the robot and you want to simulate 4 lasers and then merge them?
rosrun tf tf_echo /frnt_cam_opt /frnt_cam_p2l
At time 0.000
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.707, 0.000, 0.000, 0.707]
in RPY (radian) [1.571, -0.000, 0.000]
in RPY (degree) [90.000, -0.000, 0.000]
At time 0.000
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.707, 0.000, 0.000, 0.707]
in RPY (radian) [1.571, -0.000, 0.000]
in RPY (degree) [90.000, -0.000, 0.000]
header:
seq: 1672
stamp:
secs: 84
nsecs: 239000000
frame_id: frnt_cam_opt
height: 512
width: 512
fields:
from ira_laser_tools.
from your bag file (the tf points) it seems that you're publishing the transformation between these two frames always at the same time, to be clear, not with row::time::now()
I am not quite sure how to do this, as the tf is being published by the /state_publisher
so your configuration is 4 kinects on the robot and you want to simulate 4 lasers and then merge them?
Correct.
I have managed to use a depth image to laserscan package, and used your merger to combine them.
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I see, but if you open your tf-tree you will notice that all the Kinects have very old transforms (105secs ... I suppose just the first one, at the time you "power on" your system) and no more. Instead, frw_link, rlw_link, and rrw_link have updated transforms. This might be an issue and, from what you have told me, maybe the problems arise from the depth-to-laserscan package configuration. Your state publisher is not updating all the transforms, I don't know why.
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I have noticed the same thing, however, I assumed it was correct because these are fixed frames with respect to the base_lnk. Whereas the rrw rlw frw flw links are wheels and are constantly turning. But if that is not the case, I should probably find the reason for this.
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But just to understand if the package is working properly, can you directly use the data from the kinect without all the system and transformations? I have vague memories, but this should have been exactly what we did when we wrote this package, but is was 6 ore more years ago... donβt remember any details
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Related Issues (20)
- Using this package, is it possible to merge two scans lying in 2 different planes?
- GNU C Compiler Warnings jenkis build.ros.org HOT 1
- Intensity of the lasers HOT 3
- Not being able to work with gmapping node HOT 1
- Error of double free or corruption HOT 1
- The merge is so slow HOT 11
- Laser Merger doesn't compute range data (fixed value) HOT 1
- Release for ROS noetic HOT 2
- Unable to roslaunch laserscan_multi_merger when launch file is run in a different package HOT 3
- Unable to get merged cloud topic DATA
- Use latest timestamp in laser merger scan publish HOT 1
- ROS2 port HOT 1
- ROS2/foxy Support HOT 7
- use of last version on noetic HOT 4
- Is this project only simple merge laser data not transform coordinate HOT 1
- set range_max to inf or any value
- Two RPLIDAR's A1 orientation problem
- slam_toolbox can't build a map using multi-laser output data HOT 2
- Inconsistent map generation when using Gmapping
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