aknirala's profile - activity

If I would use the on line installer, would I be able to update it, as gazebo gets updated? Also as of now, will both me

Thanks Arinuo,

Thanks Arinuo, I did posted there http://www.pcl-users.org/Creating-mesh-from-a-simple-point-cloud-td4035178.html got no reply.
It would be good if I could get this done via code. I am going through the tutorial you pointed though.

Hi,

I am trying to create mesh from a point cloud, and currently having trouble finding the right parameters/methods to get good result. I have created point cloud (sampled from a, plane extracted from, kinect scan) in a structured way where the points are in a grid.

When I generate a mesh using pcl::GreedyProjectionTriangulation, I see that points are beng used just once, and hence the mesh I am getting is simply set of triangels all separated. Please see the two pics, pointCloud:

and Mesh (I want a mesh where there are no gaps. I can easily create a ply format file for this since this is a plane, but it would be difficult to create it for complex point clouds. I am sure there already is a method to do so.

, where mesh is being displayed in meshlab (I convereted vtk to ply by using a custom code).

Please let me know what parameters to use.

My i/p point cloud have two points separated by 0.025 meters. The parameter for mesh are: (I am not able to see any difference on changing these)

p_setKSearch: 20
p_setSearchRadius: 0.1
p_setMu: 5
p_neighbours: 100
p_maxSurfAnglePiDiv: 4
p_minAnglePiDiv: 18
p_maxAnglePiDiv: 1.5
p_normal_consist: true

The code I am using to convertPointCLoud to Mehs is:

void CreateWorld::createMeshFromCloud(pcl::PointCloud<pointrgb>::Ptr &ipCloudI){

//Let's first convert it to PointXYZ
pcl::PointCloud<pointType>::Ptr cloud = getXYZfromRGB(ipCloudI); //pointType is pointXYZ

pcl::NormalEstimation<pointType, pcl::Normal> n;
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);

pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
tree->setInputCloud (cloud);
n.setInputCloud (cloud);
n.setSearchMethod (tree);
n.setKSearch (ParamValue::p_setKSearch);        //It was 20
n.compute (*normals);                //Normals are estimated using standard method.


// Concatenate the XYZ and normal fields*
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
//* cloud_with_normals = cloud + normals

// Create search tree*
pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);
tree2->setInputCloud (cloud_with_normals);

// Initialize objects
pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
pcl::PolygonMesh triangles;

// Set the maximum distance between connected points (maximum edge length)
gp3.setSearchRadius (ParamValue::p_setSearchRadius);            //It was 0.025

// Set typical values for the parameters
gp3.setMu (ParamValue::p_setMu);                                            //It was 2.5
gp3.setMaximumNearestNeighbors (ParamValue::p_neighbours);    //It was 100
gp3.setMaximumSurfaceAngle(M_PI/ParamValue::p_maxSurfAnglePiDiv); // 45 degrees    //it was 4
gp3.setMinimumAngle(M_PI/ParamValue::p_minAnglePiDiv); // 10 degrees        //It was 18
gp3.setMaximumAngle(M_PI/ParamValue::p_maxAnglePiDiv); // 120 degrees        //it was 1.5
gp3.setNormalConsistency(ParamValue::p_normal_consist);                    //It was false

// Get result
gp3.setInputCloud (cloud_with_normals);
gp3.setSearchMethod (tree2);
gp3.reconstruct (triangles);

// Additional vertex information
std::vector<int> parts = gp3.getPartIDs();
std::vector<int> states = gp3.getPointStates();
//pcl::io::
pcl::io::saveVTKFile (ParamValue::planeMeshVTK, triangles);

std::cout<<"\n\n\t Calling conversion from VTK to PLY";
convertVtkToPly(ParamValue::planeMeshVTK, ParamValue::planeMeshPLY);

}

Any help/pointer is greatly appreciated.

Thanks

Nirala A K

HI all,

I installed Ubuntu 14.04 and ros indigo. And gazebo 2.2 also got installed along with it (was not expecting as it is being said that gazebo needs to be installed separately). While running some sample worlds, I found that it waits for certain namesapce. and after few trials gives up. What namespace is it looking for?

The console output is:

$roslaunch gazebo_ros empty_world.launch
....
Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 172.22.52.63
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
[ INFO] [1408212911.275419703, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1408212911.340969773, 0.086000000]: Physics dynamic reconfigure ready.

After this, the world seems to be spawning fine. But, what namespace is it looking for??

Hi, I am not able to install ros-hydro-pr2-gazebo (in Hydro) "The following packages have unmet dependencies: ros-hydro-pr2-gazebo : Depends: gazebo but it is not going to be installed Depends: ros-hydro-pr2-gazebo-plugins but it is not going to be installed" is the error I get.

Hi,

I saw some posts like: http://answers.ros.org/question/81636/hydro-pr2-gazebo/ and also at tutorial: http://wiki.ros.org/pr2_simulator/Tutorials it is written that PR2 is not supported in gazebo for Hydro.

Has there been any update on this? Is it supported on Indigo?

P.S. I am coming to ROS after long time (more than a year), and want to simulate PR2 in a simulated home environment. Just wanted to know should I put my effort on Hydro or Indigo? Or something earlier.