rostopic "/sensor_pointcloud_node/pointcloud" is empty

[simk0024]

Hi @eliotlim

I setup my arduino and ultrasonic range sensor, publishing sensor_msgs/Range message, my range message are correct.
However, when I launch the node, the topic "/sensor_pointcloud_node/pointcloud" is empty.

I managed to get tf configured and get the similar rqt_graph as yours, but not the expected pointcloud message.

Please advise

[eliotlim]

Hi, Could you provide more information please: - tf transform diagrams from rviz - yaml configuration file excerpts for transforms and topics - Roslaunch output

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On 8 Apr 2019, at 7:32 AM, Sim Kae Wanq ***@***.***> wrote: Hi @eliotlim I setup my arduino and ultrasonic range sensor, publishing sensor_msgs/Range message, my range message are correct. However, when I launch the node, the topic "/sensor_pointcloud_node/pointcloud" is empty. I managed to get tf configured and get the similar rqt_graph as yours, but not the expected pointcloud message. Please advise — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[simk0024]

SensorConfig is attached as .xtx file, sensorConfig.txt

I take only one sensor as example, below is the output when launching sensor_pointcloud.launch
[ INFO] [1554714800.770948680]: sensor_pointcloud: v0.1.4 [ INFO] [1554714800.770989461]: Pointcloud Topic : /sensor_pointcloud_node/pointcloud [ INFO] [1554714800.771340996]: Pointcloud Frame : base_link [ INFO] [1554714800.776178137]: SensorPrecipitator created [ INFO] [1554714800.777309960]: Sensor Parameters Loaded - Topic: /arduino/sonar1 Frame: sonar1 [ INFO] [1554714800.779886447]: Loading Transform for sensor0/transform/posX: 0.194900 [ INFO] [1554714800.780225782]: Loading Transform for sensor0/transform/posY: -0.136100 [ INFO] [1554714800.780557594]: Loading Transform for sensor0/transform/posZ: 0.070000 [ INFO] [1554714800.781447907]: Sensor Transform Loaded - Frame: sonar1 (0.19, -0.14, 0.07) rot: {0.00, 0.00, -0.61} [ INFO] [1554714800.798504666]: Sensors added
sensor_msgs/Range

sensor_msgs/pointcloud

tf transform diagram:

[eliotlim]

Could you try setting the debug output level to DEBUG and attaching the output of roslaunch in its entirety again?
Here are the lines of particular interest:

• sensor_pointcloud/SensorPrecipitator.cpp:84 ROS_DEBUG("Inserted Sensor - Topic: %s, Frame: %s", sensorTopic.c_str(), sensorFrame.c_str());
• sensor_pointcloud/SensorPrecipitator.cpp:147 ROS_DEBUG("PointCloud published with %d elements", pointCloud->width);

[simk0024]

I couldn't show DEBUG message in the output, so I changed it to ROS_INFO. This is the screenshot: