Intended live camera output?

[clauniel]

I use the following sequence of commands to launch the live camera svo using ros.

$ roscore
$ roslaunch svo_ros live.launch
$ rosrun rviz rviz
$ rosrun rqt_svo rqt_svo

I can see svo starting and saying it finds an image source on /image_raw, but nothing happens in either rviz or rqt_svo. rqt_svo says "not connected", but I can press "start" which does nothing other than printing "START SLAM" to the terminal and "quit", which prints "QUIT SLAM".

My cpu runs at 100% however, so I assume something is happening, but I see no output.

Also, the wiki mentions keyboard shortcuts to be used in a terminal, but what terminal is that? The one running rqt or svo_ros?

[taogashi]

1. make sure svo finds the right topic. Use rostopic list to check the exact image topic name, usally /usb_cam/image_raw. If it doesn't match the one svo wants, you should modify the live.launch.
2. svo can run without rviz or rqt_svo, it also prints some messages on the screen in the terminal you run roslaunch svo_ros live.launch, indicating it's running status.
3. make sure rviz loads the right config file, as the wiki tells. hope it can help.

[clauniel]

$ rostopic list
/rosout
/rosout_agg

This is all I get. Do I need the image-view package for /image_raw to appear?

I manually load the config file into rviz, the same way as done for the test example.

[taogashi]

it shows you have no image topic published. you can take the .bag file offered by cfo for test purpose, which suites the defualt camera parameters. rosbag play xx.bag and then check ros topics again, it should work. For live camera input, you need packages such as usb_cam

[clauniel]

I previously ran the bag file example and it worked fine, but it doesn't run anymore because the .bag file is somehow now a wrong version. I also have the usb_cam package.

This is the output when I now run svo_ros

[ INFO] [1420806564.238341718]: SVO initialized
[ INFO] [1420806564.239179572]: Found parameter: svo/cam_topic, value: /camera/image_raw

And the rostopic output changes to:

/camera/image_raw
/clicked_point
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/svo/dense_input
/svo/image
/svo/info
/svo/keyframes
/svo/keyframes_array
/svo/points
/svo/points_array
/svo/pose
/svo/remote_key
/tf
/tf_static

[MuiLe]

I have the same problem: Topics are:

/camera/image_raw /rosout /rosout_agg /svo/dense_input /svo/image /svo/info /svo/keyframes /svo/points /svo/pose /svo/remote_key /tf

Could someone help us. Thanks,

[staljbs]

@clauniel I am having the same problem. rqt_svo always shows not connected. Could you please tell me how you solved the problem? I see the following topics - /camera/image_raw /clicked_point /initialpose /move_base_simple/goal /rosout /rosout_agg /svo/dense_input /svo/image /svo/info /svo/keyframes /svo/keyframes_array /svo/points /svo/points_array /svo/pose /svo/remote_key /tf /tf_static

[clauniel]

@sj312931 I did not find a solution, but the problem fixed itself when I switched from Arch Linux to Ubuntu.

[ank700]

Hello, I have the same problem as clauniel. I am able to launch live.launch correctly but on the rqt window, it just shows 'not connected'. I tried to change the SVO namespace from default to svo and still nothing happens.

What does 'not connected' signify?

Can anyone please help me with this problem? Any help is much appreciated. Hi @cfo, maybe you can suggest something.

Thanks in advance.

[astridpetitjean]

Hi,

In my case the rqt_svo window shows "not connected" as well... what does it mean? Does ANYONE have ANY suggestions?

I am guessing the problem is related to qt library... I am using ROS kinetic and had some troubles with the GUI stuff in general; kinetic uses Qt5 whereas previous versions use Qt4, so I replaced <QtGui> to <QtWidgets> in the svo.widget.py file. This enabled me to actually have the rqt window to pop up (yay!), however, I have no idea what is "not connected" and how to proceed...

Thanks!

Edit: putting namespace "svo" (small letters!) in the rqt_svo window actually worked out for me!

[OHussain]

@astridpetitjean

kinetic uses Qt5 whereas previous versions use Qt4, so I replaced to in the svo.widget.py file.

Hey, I found this file, but don't fully understand what you mean by replacing it. I assume I need to change a couple names, notably Qwidget. Can I have a little more detail on this please?

[astridpetitjean]

@OHussain

Hello. I vaguely remember that I had to change some names due to change from Qt4 to Qt5 in one file (or more?)... but I don't remember what exactly, sorry.

In the end I got it to work, but did not really need it...

Sorry again for not being able to help you more...

Best,

Astrid

[OHussain]

@astridpetitjean I figured it out. For other who may need this, in the file rpg_svo/rqt_svo/src/rqt_svo/svo_widget.py you need to change the line: from python_qt_binding.QtGui import QWidget to from python_qt_binding.QtWidgets import QWidget Because in QT5 QWidget is not part of QtGui. But as I also found out, this gui was not an important component. Thank you for your help though.

[mukcit]

Hi, I have the same problem like @clauniel, @ank700. so far ı couldnt find any solution. is there any one find it to help me?

thanks a lot.

/camera/image_raw /clicked_point /initialpose /move_base_simple/goal /rosout /rosout_agg /svo/dense_input /svo/image /svo/image/compressed /svo/image/compressed/parameter_descriptions /svo/image/compressed/parameter_updates /svo/image/compressedDepth /svo/image/compressedDepth/parameter_descriptions /svo/image/compressedDepth/parameter_updates /svo/image/theora /svo/image/theora/parameter_descriptions /svo/image/theora/parameter_updates /svo/image_raw /svo/info /svo/keyframes /svo/keyframes_array /svo/points /svo/points_array /svo/pose /svo/remote_key /tf /tf_static