How to get point cloud data on the PR2

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How to get point cloud data on the PR2

Ibrahim Awwal
Hi guys,

This is kind of a silly question, but I haven't exactly been able to
figure out which node/roslaunch file I need to run to get point cloud
data on the PR2. I've been using "pr2_2dnav_slam 2dnav.launch" which
gives me PCL data, but that seems like the wrong thing to be using and
it seems like it's doing some extra processing because the interior of
objects appears to be filtered out. Somehow I haven't been able to
figure out how anything that that launch file uses activates stereo
image processing, and if I don't launch that then nothing is broadcast
on the topics like narrow_stereo/points2. I'm working with an actual
PR2, not gazebo. Any help would be appreciated. Thanks!

--
-Ibrahim Awwal

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Re: How to get point cloud data on the PR2

Radu B. Rusu
Administrator
Ibrahim,

Not sure if anyone has replied to your e-mail yet, but the easiest way to get PointCloud2 data on a PR2 is through the
narrow_stereo/narrow_stereo_textured topics. Try /narrow_stereo_textured/points2 after you enable the texture projector
on the PR2.

Cheers,
Radu.
--
http://pointclouds.org

On 01/08/2011 11:54 AM, Ibrahim Awwal wrote:

> Hi guys,
>
> This is kind of a silly question, but I haven't exactly been able to
> figure out which node/roslaunch file I need to run to get point cloud
> data on the PR2. I've been using "pr2_2dnav_slam 2dnav.launch" which
> gives me PCL data, but that seems like the wrong thing to be using and
> it seems like it's doing some extra processing because the interior of
> objects appears to be filtered out. Somehow I haven't been able to
> figure out how anything that that launch file uses activates stereo
> image processing, and if I don't launch that then nothing is broadcast
> on the topics like narrow_stereo/points2. I'm working with an actual
> PR2, not gazebo. Any help would be appreciated. Thanks!
>
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Re: How to get point cloud data on the PR2

Ibrahim Awwal
Ah, I guess I didn't enable the texture projector, that's probably what
it was. That would be with dynamic_reconfigure, right? Thanks! Somehow I
never thought to try that. I also found some of the PR2 PCL examples so
I think I should be good to go. I was also wondering about how to
generate point cloudes from laser scans, but I think I found an example
for that too this morning. I'll be sure to play around with all of those
tomorrow. Thanks for making such a great library!

-Ibrahim Awwal


On 1/10/2011 9:02 PM, Radu Bogdan Rusu wrote:

> Ibrahim,
>
> Not sure if anyone has replied to your e-mail yet, but the easiest way
> to get PointCloud2 data on a PR2 is through the
> narrow_stereo/narrow_stereo_textured topics. Try
> /narrow_stereo_textured/points2 after you enable the texture projector
> on the PR2.
>
> Cheers,
> Radu.
> --
> http://pointclouds.org
>
> On 01/08/2011 11:54 AM, Ibrahim Awwal wrote:
>> Hi guys,
>>
>> This is kind of a silly question, but I haven't exactly been able to
>> figure out which node/roslaunch file I need to run to get point cloud
>> data on the PR2. I've been using "pr2_2dnav_slam 2dnav.launch" which
>> gives me PCL data, but that seems like the wrong thing to be using and
>> it seems like it's doing some extra processing because the interior of
>> objects appears to be filtered out. Somehow I haven't been able to
>> figure out how anything that that launch file uses activates stereo
>> image processing, and if I don't launch that then nothing is broadcast
>> on the topics like narrow_stereo/points2. I'm working with an actual
>> PR2, not gazebo. Any help would be appreciated. Thanks!
>>
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Re: How to get point cloud data on the PR2

Radu B. Rusu
Administrator
Ibrahim,


On 01/10/2011 10:25 PM, Ibrahim Awwal wrote:
> Ah, I guess I didn't enable the texture projector, that's probably what it was. That would be with dynamic_reconfigure,
> right? Thanks! Somehow I never thought to try that. I also found some of the PR2 PCL examples so I think I should be
> good to go. I was also wondering about how to generate point cloudes from laser scans, but I think I found an example
> for that too this morning. I'll be sure to play around with all of those tomorrow. Thanks for making such a great library!

Thanks for the flowers ;) Happy that it works.

Check http://www.ros.org/wiki/pr2_tilt_laser_interface for tilt laser scans (though the package needs some
documentation, it should be easy to use).

Cheers,
Radu.
--
http://pointclouds.org

>
> -Ibrahim Awwal
>
>
> On 1/10/2011 9:02 PM, Radu Bogdan Rusu wrote:
>> Ibrahim,
>>
>> Not sure if anyone has replied to your e-mail yet, but the easiest way to get PointCloud2 data on a PR2 is through the
>> narrow_stereo/narrow_stereo_textured topics. Try /narrow_stereo_textured/points2 after you enable the texture
>> projector on the PR2.
>>
>> Cheers,
>> Radu.
>> --
>> http://pointclouds.org
>>
>> On 01/08/2011 11:54 AM, Ibrahim Awwal wrote:
>>> Hi guys,
>>>
>>> This is kind of a silly question, but I haven't exactly been able to
>>> figure out which node/roslaunch file I need to run to get point cloud
>>> data on the PR2. I've been using "pr2_2dnav_slam 2dnav.launch" which
>>> gives me PCL data, but that seems like the wrong thing to be using and
>>> it seems like it's doing some extra processing because the interior of
>>> objects appears to be filtered out. Somehow I haven't been able to
>>> figure out how anything that that launch file uses activates stereo
>>> image processing, and if I don't launch that then nothing is broadcast
>>> on the topics like narrow_stereo/points2. I'm working with an actual
>>> PR2, not gazebo. Any help would be appreciated. Thanks!
>>>
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