Dear ROS community!
I've started to built a stereo camera system to reconstruct the field of view. I use two Logitech C270 webcameras on a base stand to get the image streams. (Here you can see the prototype: https://www.youtube.com/watch?v=vypIrNU4G9I)
For the project it's necessary to hold the camera optics as close as I can, so I've turned one camera vertically. I use video_stream_opencv package to get and rotate the images and also to send them to the other nodes.
Because of the further operations and to save some hardware resources, I thought it's necessary to synchronize the images' and camera info's timestamps before calibration, rectification etc., so I've created a synchronization node which uses approximate synchronization between the image frames and camera info messages, and it also republishes the data with the same timestamps. I thought that after the synchronization won't be necessary to use the approx_sync, but I think I was wrong. To test the system I also started to use a static Tf publisher.
Anyway, I couldn't get out some point cloud from the system, however in the terminal a warning message appears frequently:
> odometry: Could not get transform from> base_link to left> (stamp=1506788450.735916) after> 0.200000 seconds ("wait_for_transform_duration"=0.200000)!> Error=". canTransform returned after> 0.202835 timeout was 0.2.
I suspect to the static TF publisher, but I'm not sure.
Here is my launch file:
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