atenpas / handle_detector Goto Github PK

Hi @atenpas @mikeferguson or @cottsay .
do you know how to change the detected handle list into ros_tf?

many thanks

Hi,
I'm not seeing the data in rviz. I'm referencing the instructions from step 6 of the wiki.

Rviz is not showing anything but the grid and I think I know why, but would like some reassurance and guidance if possible. Here's what I see in rviz after setting Fixed Frame to camera_link, PointCloud2 to /localization/point_cloud and MarkerArray to localization/visualization_all_handles

I would expect to see at least the point cloud data if localization did not recognize any handles

I'm launching an Xbox camera with roslaunch freenect_launch freenect.launch. At this point I don't have an actual robot running so I don't have anything else but the camera_link as a coordinate frame.

My output from rosrun rqt_tf_tree rqt_tf_tree (to view the /tf tree) looks like this:

My output from rqt_graph looks like this:

So...
I think I know why there is no output in rviz, its because there is no link between /tf and /localization.

Can anybody drop any hints if I'm on the right track, if there are solutions out there or if I'm just plain way off.

Thanks!

CMakeLists.txt

• Add pcl_ros to find_package and catkin_package.
• Remove PCL from catkin_package->DEPENDS.
• Remove ${PCL_INCLUDE_DIRS} from include_directories

package.xml

• Add pcl_ros depend tags.

edit: Have had this come up before with another package, something unique about my debian:jessie mixed source install. Probably works for everyone else, but can't hurt specifying the dependency.

HI!
When i finish the detection，What should I do to finish grasping in simulator? Could u give an example?

Hi:
I have run the test file pcd without any problem.

when I use this with Xtion pro live using the command
1.Start roscore: $ roscore.
2.Start openni2_launch: $ roslaunch openni2_launch openni2.launch.
3.Run the handle localization: $ roslaunch handle_detector localization_sensor.launch.
I run into this error:
....
terminate called after throwing an instance of 'tf2::LookupException'
what(): "base" passed to lookupTransform argument target_frame does not exist.

is it because I use xtion pro live instead of the kinect, so I need to change the lines in localization.cpp lines:
const std::string RANGE_SENSOR_FRAME = "camera_rgb_optical_frame";
const std::string RANGE_SENSOR_TOPIC = "/camera/depth_registered/points";
but the "base" error is still there

Just notice this might be very similar to the closed issue "terminate called after throwing an instance of 'tf2::LookupException' ", we are checking if we could fix it as the closed one, it might be due to our robot "base" frame is not seen by sensor frame somehow...

Hi, I am using this package under ROS Indigo and using Kinect V2.
l have met the problem like the following and l don't know why it happened.
l have linked the tf tree between base and kinect2_link.
can you help me? Thank you!

Reading point cloud data from sensor topic: /kinect2/hd/points
input frame: kinect2_rgb_optical_frame
output frame: kinect2_rgb_optical_frame
Estimating curvature ...
No finite points in cloud!
No handles found!
[ INFO] [1521356731.212328085]: update cloud
[ INFO] [1521356731.212406848]: update visualization
[ INFO] [1521356731.212429351]: update messages

I am using a Kinect. I am trying to use the sensor and perform the steps as given in 4.2. It throws me the following error.

what(): "kinect_l_rgb_optical_frame" passed to lookupTransform argument source_frame does not exist. [localization-1] process has died [pid 22362, exit code -6, cmd /home/owner/baxter_ws/devel/lib/handle_detector/handle_detector_localization __name:=localization __log:=/home/owner/.ros/log/35ab47c0-191b-11e6-bed3-000af72dcfab/localization-1.log]. log file: /home/owner/.ros/log/35ab47c0-191b-11e6-bed3-000af72dcfab/localization-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

currently i am using kinect 2 camera and my arm need to open door so what changes i have to do in the package to work?

Just a heads up, it appears you used bloom to release this ROS package into its own source repository, which I don't think you are suppose to do. Most notably, your README.md has a lot of extra noise in it now. Usually you create a new repo for releasing, in your case it would be handle_detector-release