0
$\begingroup$

Rosanswers logo

I am trying to learn ROS and filtering of point cloud. I performed some tutorials on the same. However now I am stuck that the data from node for bag file is not getting published. Please refer to the data from rostopic list -v

Published topics:
 * /rosout [rosgraph_msgs/Log] 4 publishers
 * /clock [rosgraph_msgs/Clock] 1 publisher
 * /all_velo [sensor_msgs/PointCloud2] 1 publisher
 * /diagnostics [diagnostic_msgs/DiagnosticArray] 1 publisher
 * /velodyne_points [sensor_msgs/PointCloud2] 1 publisher
 * /velodyne_pointcloud_TransformNodelet/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /velodyne_pointcloud_TransformNodelet/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /tf_static [tf2_msgs/TFMessage] 1 publisher
 * /tf [tf2_msgs/TFMessage] 1 publisher
 * /kitti/oxts/imu [sensor_msgs/Imu] 1 publisher
 * /kitti/oxts/gps/fix [sensor_msgs/NavSatFix] 1 publisher
 * /kitti/oxts/gps/vel [geometry_msgs/TwistStamped] 1 publisher
 * /kitti/camera_gray_left/image_raw [sensor_msgs/Image] 1 publisher
 * /kitti/camera_gray_left/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kitti/camera_gray_right/image_raw [sensor_msgs/Image] 1 publisher
 * /kitti/camera_gray_right/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kitti/camera_color_left/image_raw [sensor_msgs/Image] 1 publisher
 * /kitti/camera_color_left/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kitti/camera_color_right/image_raw [sensor_msgs/Image] 1 publisher
 * /kitti/camera_color_right/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /kitti/velo/pointcloud [sensor_msgs/PointCloud2] 1 publisher
 * /rosout_agg [rosgraph_msgs/Log] 1 publisher

Subscribed topics:
 * /velodyne_points [sensor_msgs/PointCloud2] 1 subscriber
 * /velodyne_packets [velodyne_msgs/VelodyneScan] 1 subscriber
 * /rosout [rosgraph_msgs/Log] 1 subscriber
 * /statistics [rosgraph_msgs/TopicStatistics] 1 subscriber

I have used kitti2bag to convert to bag file. Below the commands used by me to run the package

roscore
rosrun nodelet nodelet standalone velodyne_pointcloud/TransformNodelet
rosrun beginner_tutorials all_velo input:=/velodyne_points
rosbag play -l kitti_2011_09_26_drive_0002_synced.bag

In rqt_graph I cannot see a topic from the node corresponding to rosbag I believe this is why I cannot convert the pointcloud.

I am not sure where I am making mistake.


Originally posted by SAM MATHEW on ROS Answers with karma: 16 on 2021-04-14

Post score: 0


Original comments

Comment by TzviH on 2021-04-14:
Hi, Can you write in a more understandable way what exactly you are trying to do?

Can you write again your steps? (e.g. "roscore" "roslaunch.." "rosbag play..")

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

I got it fixed. I was not subscribing correct topic on all_velo. After changing the rosrun beginner_tutorials all_velo input:=/kitti/velo/pointcloud. It started working.


Originally posted by SAM MATHEW with karma: 16 on 2021-04-15

This answer was ACCEPTED on the original site

Post score: 0

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.