If the system did not successfully boot up, please go through the following steps:
This issue can be solved, if you mount the micro sd card on
/and install the system on it.
cd ~ ./run_camera.sh
It has been set default that you need to run roscore on weeboo (IP address is
192.168.2.171) If you are running roscore at other machines with different IP address, please specify the IP address before running the script.
If you cannot publish topics, please run:
You may modify the rs_camera.launch file to set the resolution, FPS, enabling camera streams.
source ./devel/setup.bash roslaunch depth_image_proc cloudify.launch
Then you may use
Rviz to view the point cloud data with subscribing to Topic
Color/Depth Synchronization Problem
aligned depth to color frames may not arrive at the same time.
message_filter and checking the
frame_id to sync two frames. However, it would continuously give the error that two frame ids are not the same, which would not reconstruct the point cloud data.
We have disabled the commands which checking the frame id. But we are also working on other solutions to make the frame synchronization issue.
Potential solution would be using custom-defined message type to combine color and depth image together and send together within a message.
Using Image Transport
The local reconstruct point cloud requires
aligned_depth_to_color frames. We applied
Compressed Image Transport on the color frames and
CompressedDepth Image transport on the depth (Aligned depth to color) frames.
But in order to make the wireless transmission smoothly, we may need to set the dynamic parameters of the transport, like the compression quality.
#After running the camera on the joule site, open another ssh window to joule. rosrun dynamic_reconfigure dynparam set /camera/color/image_raw/compressed jpeg_quality 70 rosrun dynamic_reconfigure dynparam set /camera/aligned_depth_to_color/image_raw/compressedDepth png_level 7