New package to advertise virtual RGB-D camera #1884

wkentaro · 2016-09-23T17:13:00Z

Suggested in ros-perception/image_common#54.

it publishes:

camera_info with calibration_file.
image with image_file.
points with pcd_file.

k-okada · 2016-09-24T01:01:10Z

we already have package to publish virtual camera info at ->
https://github.com/jsk-ros-pkg/jsk_recognition/blob/master/jsk_perception/src/virtual_camera_mono.cpp

◉ Kei Okada

2016-09-24 2:13 GMT+09:00 Kentaro Wada [email protected]:

it publishes:

camera_info with calibration_file.

image with image_file.

points with pcd_file.

You can view, comment on, or merge this pull request online at:

#1884
Commit Summary

New package to advertise virtual camera

File Changes

A virtual_camera/CMakeLists.txt
https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884/files#diff-0
(78)

A virtual_camera/include/virtual_camera/virtual_camera_driver.h
https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884/files#diff-1
(77)

A virtual_camera/nodelets.xml
https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884/files#diff-2
(11)

A virtual_camera/package.xml
https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884/files#diff-3
(28)

A virtual_camera/samples/camera_info/calibration_0001.yaml
https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884/files#diff-4
(20)

A virtual_camera/samples/sample_driver.launch
https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884/files#diff-5
(10)

A virtual_camera/src/virtual_camera_driver.cpp
https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884/files#diff-6
(92)

A virtual_camera/test/driver.test
https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884/files#diff-7
(14)

Patch Links:

https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884.patch

https://github.com/jsk-ros-pkg/jsk_recognition/pull/1884.diff

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wkentaro · 2016-09-24T08:50:13Z

What do u mean?
It is not a package but a node, and it does not have feature to publish camera info.

k-okada · 2016-09-26T02:50:38Z

What do u mean?

did you know this before you create new package,

It is not a package but a node, and it does not have feature to publish camera info.

This node does, and used in elevator demo @furushchev

I do not say you need to used this, and understand that your new
package seems better then this one, but adding new package increase
maintenance work and need to be very careful, at least please send
pull request to image_pipeline

$ rosnode  info virtual_camera_mono
--------------------------------------------------------------------------------
Node [/virtual_camera_mono]
Publications:
 * /virtual_camera_mono/image/compressed/parameter_descriptions
[dynamic_reconfigure/ConfigDescription]
 * /virtual_camera_mono/image/theora/parameter_descriptions
[dynamic_reconfigure/ConfigDescription]
 * /virtual_camera_mono/image/theora/parameter_updates
[dynamic_reconfigure/Config]
 * /virtual_camera_mono/image/compressed [sensor_msgs/CompressedImage]
 * /virtual_camera_mono/image [sensor_msgs/Image]
 * /rosout [rosgraph_msgs/Log]
 * /virtual_camera_mono/image/compressedDepth/parameter_descriptions
[dynamic_reconfigure/ConfigDescription]
 * /tf [tf2_msgs/TFMessage]
 * /virtual_camera_mono/camera_info [sensor_msgs/CameraInfo]
 * /virtual_camera_mono/image/compressedDepth [sensor_msgs/CompressedImage]
 * /virtual_camera_mono/image/compressedDepth/parameter_updates
[dynamic_reconfigure/Config]
 * /virtual_camera_mono/image/compressed/parameter_updates
[dynamic_reconfigure/Config]
 * /virtual_camera_mono/image/theora [theora_image_transport/Packet]

◉ Kei Okada

wkentaro · 2016-09-26T03:12:10Z

it seems that it just transports camera_info, and does not publish using calibration_file?

wkentaro · 2016-09-26T03:16:57Z

Actually, this is a package which will be added to ros-drivers organization, so putting in image_pipeline seems unreasonable.

What kind of process do you need to do when a new package is added?

k-okada · 2016-09-26T15:55:06Z

it seems that it just transports camera_info, and doea not publishes
using calibration_file?

yes, yo're correct

Actually, this is a package which will be added to ros-drivers
organization, so putting in image_pipeline seems unreasonable.

for me this seems 3d version of
https://github.com/ros-perception/image_pipeline/tree/indigo/image_publisher

◉ Kei Okada

2016-09-26 12:16 GMT+09:00 Kentaro Wada [email protected]:

Actually, this is a package which will be added to ros-drivers
organization, so putting in image_pipeline seems unreasonable.

What kind of process do you need to do when a new package is added?

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wkentaro · 2016-09-26T16:18:42Z

for me this seems 3d version of
https://github.com/ros-perception/image_pipeline/tree/indigo/image_publisher

Yeah, I agree. That's why I firstly sent PR to image_common: ros-perception/image_common#54.
But what jack-oquin says seems reasonable, and virtual_camera/driver is better name than image_publisher/image_and_pcd_publisher.

k-okada · 2016-09-28T10:56:29Z

ok, so to send this package to ros-drivers, we need to create package which
does not depends on the jsk_topic_tools, so that they can easily copy into
the ros-drivers repository.

◉ Kei Okada

2016-09-27 1:18 GMT+09:00 Kentaro Wada [email protected]:

for me this seems 3d version of
https://github.com/ros-perception/image_pipeline/
tree/indigo/image_publisher

Yeah, I agree. That's why I firstly sent PR to image_common:
ros-perception/image_common#54
ros-perception/image_common#54.
But what jack-oquin says seems reasonable, and virtual_camera/driver is
better name than image_publisher/image_and_pcd_publisher.

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k-okada · 2016-09-28T11:14:34Z

you'd better to create node to get accepted at ros-drives, I think.

k-okada · 2016-09-28T11:15:37Z

I think there is a sig for ros-drivers and you'd better to start discussion there.

wkentaro · 2016-09-28T11:16:51Z

I removed the dependency on jsk_topic_tools and jsk_tools.

wkentaro · 2016-09-28T11:20:38Z

you'd better to create node to get accepted at ros-drives, I think.

You mean in addition to the nodelet?

I think there is a sig for ros-drivers and you'd better to start discussion there.

Ok, I will.

k-okada · 2016-09-28T11:22:29Z

yes, i far as i understand, you removed jsk_topic_tools and also remove
node executable, is it correct?

◉ Kei Okada

2016-09-28 20:20 GMT+09:00 Kentaro Wada [email protected]:

you'd better to create node to get accepted at ros-drives, I think.

You mean in addition to the nodelet?

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wkentaro · 2016-09-28T11:29:10Z

node executable, is it correct?

Yes, you're right.

wkentaro · 2016-09-28T13:35:37Z

Posted to ros-drivers SIG: https://groups.google.com/forum/#!topic/ros-sig-drivers/zmch-CTMD2I

it publishes: - camera_info with calibration_file. - image with image_file. - points with pcd_file.

wkentaro · 2016-10-14T19:08:03Z

yes, i far as i understand, you removed jsk_topic_tools and also remove
node executable, is it correct?

Seems adding additional node executable is not recommended by OSRF maintainer ;)
ros/nodelet_core#47 (comment)

k-okada · 2016-10-16T06:34:19Z

I think this is not a problem of "executable node", but a concern of
"maintenance cost"

◉ Kei Okada

2016-10-15 4:08 GMT+09:00 Kentaro Wada [email protected]:

yes, i far as i understand, you removed jsk_topic_tools and also remove
node executable, is it correct?

Seems adding additional node executable is not recommended by OSRF
maintainer ;)
ros/nodelet_core#47 (comment)
ros/nodelet_core#47 (comment)

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wkentaro · 2017-02-05T06:36:19Z

I think this package solves our problem on CI I reported here: #1997
Because playing rosbag on Travis/Jenkins seems unstable: #1998 (comment)

What do you think? @k-okada @mmurooka @iory

k-okada · 2017-02-05T07:17:30Z

Who about copying ros-perception/image_pipeline#223 to jsk_perception. #1997 is ok, what I found last week is to understand `package` concept is very difficult( see PRs in jsk-ros-pkg/euslib). So this strategy might be better for now. 2017年2月5日(日) 15:36 Kentaro Wada <[email protected]>:

I think this package solves our problem on CI I reported here: #1997 <#1997> Because playing rosbag on Travis/Jenkins seems unstable: #1998 (comment) <#1998 (comment)> What do you think? @k-okada <https://github.com/k-okada> @mmurooka <https://github.com/mmurooka> — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#1884 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3Pn2ty9c3dOiqm-zCmTqQJioRLi1ks5rZW3kgaJpZM4KFMpe> .

-- -- ◉ Kei Okada

wkentaro · 2017-02-05T08:06:34Z

I see. I will go that direction.

wkentaro · 2017-03-22T14:24:51Z

Maybe loading depth image to publish by OpenCV is a bit difficult, and rosbag is better for that purpose.
The problem of rosbag is its difficulty of handling --loop.
I think it can be easily resolved by rewriting header stamp with Python, and can be resolved in rosbag play with some options in the future.
So I'm closing this PR for now.

wkentaro changed the title ~~New package to advertise virtual camera~~ New package to advertise virtual RGBD camera Sep 23, 2016

wkentaro force-pushed the virtual-camera-driver branch 3 times, most recently from dfeda0e to 7b51661 Compare September 23, 2016 17:17

wkentaro changed the title ~~New package to advertise virtual RGBD camera~~ New package to advertise virtual RGB-D camera Sep 23, 2016

wkentaro added the feature label Sep 23, 2016

wkentaro force-pushed the virtual-camera-driver branch 13 times, most recently from c4fc89b to 93303f6 Compare September 23, 2016 19:12

wkentaro force-pushed the virtual-camera-driver branch 4 times, most recently from 3365243 to 4b4c3dc Compare September 25, 2016 09:48

wkentaro force-pushed the virtual-camera-driver branch from a4e724d to 1c02534 Compare September 28, 2016 11:04

wkentaro changed the title ~~New package to advertise virtual RGB-D camera~~ [WIP] New package to advertise virtual RGB-D camera Sep 29, 2016

wkentaro force-pushed the virtual-camera-driver branch 2 times, most recently from 9f49db4 to 7295457 Compare October 10, 2016 00:31

New package to advertise virtual RGB-D camera

8ddacf4

it publishes: - camera_info with calibration_file. - image with image_file. - points with pcd_file.

wkentaro force-pushed the virtual-camera-driver branch from 7295457 to 8ddacf4 Compare October 10, 2016 00:31

wkentaro changed the title ~~[WIP] New package to advertise virtual RGB-D camera~~ New package to advertise virtual RGB-D camera Oct 10, 2016

k-okada added the PR/NeedStrongSupport Someone? label Oct 27, 2016

wkentaro added the PR/DoNotMergeYet label Feb 8, 2017

wkentaro closed this Mar 22, 2017

wkentaro deleted the virtual-camera-driver branch March 22, 2017 14:24

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New package to advertise virtual RGB-D camera #1884

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