No deeph image rect received

[akikohaku]

I tried to use this with the fkie_husky_manipulation_simulation. But It ouputs this

ros.image_transport.sync: [image_transport] Topics '/realsense/depth/image_rect_raw' and '/realsense/depth/camera_info' do not appear to be synchronized. In the last 10s:
	Image messages received:      0
	CameraInfo messages received: 90
	Synchronized pairs:           0

It seems that there is no output from the topic /realsense/depth/image_rect_raw. Did I miss something or something wrong? How can I get a output like the vedio?

[DevilCJS89]

hello ,i face the same issue having you solve the problem ? @akikohaku

[DevilCJS89]

Can you run the code successfully?

[akikohaku]

Can you run the code successfully?

I found that those two topics was published by a real-world realsense camera, but the simulation version can't publish that. So I use the issaiass/ realsense2_description to replace the camera in simulation enviromnent and it would provide the point cloud directly. And you need to disable the transform node which transforming image to point, and change the cloud_in topic in octomap.launch into "/camera/depth/color/points". But I also face some other problems and I'm trying to fix it out. Let me know if you can get the result successfully. @DevilCJS89

[DevilCJS89]

你能成功运行代码吗？

我发现这两个主题是由现实世界的实感摄像机发布的，但模拟版本无法发布。所以我使用 issaiass/ realsense2_description 来替换模拟环境中的相机，它会直接提供点云。并且您需要禁用将图像转换为点的转换节点，并将octomap.launch中的cloud_in主题更改为“/相机/深度/颜色/点”。但我也面临一些其他问题，我正在努力解决它。让我知道您是否可以成功获得结果。

我一遍又一遍地看论文和代码规范。项目状态：“我们目前正在开发完整系统的Noetic版本，该系统可以使用行为树演示带有哈士奇基地和熊猫手臂的计划者的执行。整个系统计划于 2022 年 <> 月底投入使用。项目未完成，两个项目合并申请的代码尚未上传。论文中使用的模型不是“husky_manipulation”，而是“Telerob tEOD”。

我目前正在尝试同时运行两个项目，但我遇到了一些问题。fike_behavior_tree错误地编译了软件包：“找不到”BehaviorTreeV3“提供的软件包配置文件，现在我正在尝试修复它。

Have you encountered this problem? (Target "TutorialActions_dyn" links to target "BT::behaviortree_cpp_v3")

[akikohaku]

你能成功运行代码吗？

我发现这两个主题是由现实世界的实感摄像机发布的，但模拟版本无法发布。所以我使用 issaiass/ realsense2_description 来替换模拟环境中的相机，它会直接提供点云。并且您需要禁用将图像转换为点的转换节点，并将octomap.launch中的cloud_in主题更改为“/相机/深度/颜色/点”。但我也面临一些其他问题，我正在努力解决它。让我知道您是否可以成功获得结果。

我一遍又一遍地看论文和代码规范。项目状态：“我们目前正在开发完整系统的Noetic版本，该系统可以使用行为树演示带有哈士奇基地和熊猫手臂的计划者的执行。整个系统计划于 2022 年 <> 月底投入使用。项目未完成，两个项目合并申请的代码尚未上传。论文中使用的模型不是“husky_manipulation”，而是“Telerob tEOD”。

我目前正在尝试同时运行两个项目，但我遇到了一些问题。fike_behavior_tree错误地编译了软件包：“找不到”BehaviorTreeV3“提供的软件包配置文件，现在我正在尝试修复它。

Have you encountered this problem? (Target "TutorialActions_dyn" links to target "BT::behaviortree_cpp_v3")

I encounted the problem as well. It seems that BehaviorTreeCppV3 package provided by apt had been updated and the correct version is v3.7.1. You may fix this issue with the code below. @DevilCJS89

git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git
git checkout origin/v3.8
git reset --hard a5411c9
mkdir build
cd build
cmake ..
make
sudo make install

[DevilCJS89]

Thank you  for your reply. I have solved the  problem, but I have met some other problems. #The rqt_graph,pakges: "fkie-nbv-planner" this node only accepted but no publish.

#"fkie_husky_manipulation_simulation" no image information。

原始邮件

发件人："琥珀"< @.*** >;

发件时间：2023/4/27 5:26

收件人："fkie/fkie-nbv-planner"< @.*** >;

抄送人："CJS89"< @.*** >;"Mention"< @.*** >;

主题：Re: [fkie/fkie-nbv-planner] No deeph image rect received (Issue #5)

I encounted the problem as well. It seems that BehaviorTreeCppV3 package provided by apt had been updated and the correct version is v3.7.1. You may fix this issue with the code below. git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git git checkout origin/v3.8 git reset --hard a5411c9 mkdir build cd build cmake .. make sudo make install

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: @.***>

[akikohaku]

Thank you  for your reply. I have solved the  problem, but I have met some other problems. #The rqt_graph,pakges: "fkie-nbv-planner" this node only accepted but no publish. #"fkie_husky_manipulation_simulation" no image information。

You need to use the d435 camera urdf from issaiass/realsense2_description to replace that camera in fkie_husky_manipulation_simulation. And you can use rostopic list to find the pointcloud topic, which should be /camera/depth/color/points. Then you should replace the input topic in octomap_server.launch . To start this planner, you might have to use Action Client to build a client and send GOAL(you can just initialize it without any data) to the "husky/nbv_rrt" topic. And the camera should be moved manually at first to avoid the current camera pose in an undetected grid in Octomap. @DevilCJS89