Thanks, after the fix in issue #1, i was able to move ahead till I got to this place.

After launching the lsd_slam,I moved the ardrone till I received, "least-square successful".

Then, on pressing 'i' in Point cloud viewer, it returned a output in command window as,
resetted animation list!
made animation with 0 keyframes, spanning 0.000000 s!

Then on pressing, 'p' in point cloud viewer, returned an output in command window as,
Flushing Pointcloud to /home/dyana/ros/catkin_ws/src/lsd_slam/lsd_slam_viewer/pc_tmp.ply!
Done Flushing Pointcloud with 0 points!

I moved the ardrone a little bit more and then made the same attempt to publish point cloud
On pressing 'i' in Point cloud viewer, returned a output in command window as,
"made animation with 0 keyframes, spanning 0.000000 s!"

Then on pressing, 'p' in point cloud viewer, returned an output in command window as,
Flushing Pointcloud to /home/dyana/ros/catkin_ws/src/lsd_slam/lsd_slam_viewer/pc_tmp.ply!
Done flushing frame 980 (12321 points)!
Done flushing frame 1105 (10092 points)!
Done Flushing Pointcloud with 22413 points!

Then on launching,
$ roslaunch ar_drone_moveit demo.launch

I could not see any octomap. I tried to echo the point cloud as,
$ rostopic echo pointcloud2_scaled
but there was no output. Is there any other step to publish the point cloud in 'pc_tmp.ply'

I selected the motion planning plugin, and selected a start & goal and planned a path.

Then launched the ardrone controller,
$ rosrun hypharos_ardrone ardrone_controller

but I saw no motion of ardrone, even after pressing p and then s to let ardrone follow the path

How do I get the point cloud, the octomap and get the ardrone follow the computed path?

I receive the following error, when i run,
$ rosrun lsd_slam_core live_slam image:=/ardrone/front/image_rect camera_info:=/ardrone/front/camera_info

Received ROS Camera Calibration: fx: 463.275726, fy: 535.977356, cx: 328.456696, cy: 134.693726 @ 640x360
RECEIVED ROS camera calibration!
image dimensions must be multiples of 16! Please crop your images / video accordingly.
Started mapping thread!
Started constraint search thread!
Started optimization thread
Doing Random initialization!
started image display thread!
Done Random initialization!
*** Error in `/home/dyana/ros/catkin_ws/devel/lib/lsd_slam_core/live_slam': malloc(): memory corruption: 0x0000000000cb04a0 ***
Aborted (core dumped)

Then I tried to use a calibration file, instead of camera_info,
rosrun lsd_slam_core live_slam image:=/ardrone/front/image_rect _calib:=/home/dyana/.ros/camera_info/ardrone1_default.cfg
with calibration file as follows
0.672049 0.899033 0.502065 0.513876 0.271972
640 352
none
640 352

then i received a different error,
UndistorterPTAM: input image size differs from expected input size! Not undistorting

How to solve this memory corruption error? and undistortingPTAM error?

Hello, First let me confess I am totally newb so donot get dishurt if I ask something crazy.

I am trying to compile this in my separate work space created for this with catkin_make, however there is some error coming up which I am unable to solve by myself, Can you help me in solving it.

One possible reason which I suppose could be that of what you have said about the lsd_slam,
Of which I have to install dependencies before compiling which I do not know how to install.
Thank you.

`ghost@viper:$ cd ar_navigation/
ghost@viper:/ar_navigation$ catkin_make
Base path: /home/ghost/ar_navigation
Source space: /home/ghost/ar_navigation/src
Build space: /home/ghost/ar_navigation/build
Devel space: /home/ghost/ar_navigation/devel
Install space: /home/ghost/ar_navigation/install

Running command: "make cmake_check_build_system" in "/home/ghost/ar_navigation/build"

Running command: "make -j8 -l8" in "/home/ghost/ar_navigation/build"

[ 1%] Built target lsd_slam_viewer_gencfg
[ 2%] Built target lsd_slam_core_gencfg
[ 2%] Built target std_msgs_generate_messages_cpp
[ 2%] Built target _lsd_slam_viewer_generate_messages_check_deps_keyframeGraphMsg
[ 2%] Built target _lsd_slam_viewer_generate_messages_check_deps_keyframeMsg
[ 2%] Built target _tum_ardrone_generate_messages_check_deps_SetReference
[ 2%] Built target _tum_ardrone_generate_messages_check_deps_SetMaxControl
[ 4%] Built target tum_ardrone_gencfg
[ 4%] Built target _tum_ardrone_generate_messages_check_deps_SetStayWithinDistance
[ 4%] Built target _tum_ardrone_generate_messages_check_deps_SetInitialReachDistance
[ 10%] Built target thirdparty
[ 10%] Built target _tum_ardrone_generate_messages_check_deps_filter_state
[ 10%] Built target std_msgs_generate_messages_nodejs
[ 10%] Built target std_msgs_generate_messages_py
[ 10%] Built target std_msgs_generate_messages_lisp
[ 10%] Built target std_msgs_generate_messages_eus
[ 11%] Built target lsd_slam_viewer_generate_messages_cpp
[ 11%] Built target _tum_ardrone_generate_messages_check_deps_SetStayTime
[ 12%] Built target conversion
[ 15%] Built target lsd_slam_viewer_generate_messages_py
[ 16%] Built target lsd_slam_viewer_generate_messages_lisp
[ 21%] Built target lsd_slam_viewer_generate_messages_nodejs
[ 21%] Built target lsd_slam_viewer_generate_messages_eus
[ 21%] Built target ardrone_controller
[ 25%] Built target tum_ardrone_generate_messages_cpp
[ 32%] Built target tum_ardrone_generate_messages_py
[ 36%] Built target tum_ardrone_generate_messages_lisp
[ 40%] Built target tum_ardrone_generate_messages_nodejs
[ 45%] Built target tum_ardrone_generate_messages_eus
[ 45%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/Frame.cpp.o
[ 46%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/FramePoseStruct.cpp.o
[ 47%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/FrameMemory.cpp.o
[ 47%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/SlamSystem.cpp.o
[ 47%] Built target tum_ardrone_gencpp
[ 47%] Built target lsd_slam_viewer_generate_messages
[ 47%] Built target tum_ardrone_generate_messages
[ 47%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/main_viewer.o
[ 48%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/LiveSLAMWrapper.cpp.o
[ 49%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/PointCloudViewer.o
[ 58%] Built target drone_gui
[ 59%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DepthEstimation/DepthMap.cpp.o
In file included from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DataStructures/FramePoseStruct.h:23:0,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DataStructures/FramePoseStruct.cpp:22:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:24:34: fatal error: g2o/core/base_vertex.h: No such file or directory
compilation terminated.
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:86: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/FramePoseStruct.cpp.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/FramePoseStruct.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 60%] Building CXX object hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/KeyFrameDisplay.o
In file included from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DepthEstimation/DepthMap.cpp:21:0:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DepthEstimation/DepthMap.h:23:33: fatal error: opencv2/core/core.hpp: No such file or directory
compilation terminated.
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:182: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DepthEstimation/DepthMap.cpp.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DepthEstimation/DepthMap.cpp.o] Error 1
In file included from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/LiveSLAMWrapper.h:29:0,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/LiveSLAMWrapper.cpp:21:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/IOWrapper/TimestampedObject.h:26:33: fatal error: opencv2/core/core.hpp: No such file or directory
compilation terminated.
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:158: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/LiveSLAMWrapper.cpp.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/LiveSLAMWrapper.cpp.o] Error 1
[ 64%] Built target drone_autopilot
In file included from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DataStructures/FramePoseStruct.h:23:0,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DataStructures/Frame.h:26,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DataStructures/Frame.cpp:21:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:24:34: fatal error: g2o/core/base_vertex.h: No such file or directory
compilation terminated.
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:62: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/Frame.cpp.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/Frame.cpp.o] Error 1
In file included from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DataStructures/FramePoseStruct.h:23:0,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DataStructures/Frame.h:26,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/DataStructures/FrameMemory.cpp:22:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:24:34: fatal error: g2o/core/base_vertex.h: No such file or directory
compilation terminated.
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:110: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/FrameMemory.cpp.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/FrameMemory.cpp.o] Error 1
[ 80%] Built target drone_stateestimation
In file included from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/SlamSystem.cpp:21:0:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/src/SlamSystem.h:29:33: fatal error: opencv2/core/core.hpp: No such file or directory
compilation terminated.
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:134: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/SlamSystem.cpp.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/SlamSystem.cpp.o] Error 1
CMakeFiles/Makefile2:3168: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/all' failed
make[1]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/opencv.hpp:86:0,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:31:
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching.hpp:58:4: warning: #warning Detected X11 'Status' macro definition, it can cause build conflicts. Please, include this header before any X11 headers. [-Wcpp]

warning Detected X11 'Status' macro definition, it can cause build conflicts. Please, include this header before any X11 headers.

^

In file included from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.cpp:22:0:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h: In member function ‘std::__cxx11::string AnimationObject::toString()’:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:136:26: error: invalid initialization of non-const reference of type ‘qreal& {aka double&}’ from an rvalue of type ‘qreal {aka double}’
frame.getPosition(x,y,z);
^
In file included from /usr/include/QGLViewer/keyFrameInterpolator.h:31:0,
from /usr/include/QGLViewer/camera.h:26,
from /usr/include/QGLViewer/qglviewer.h:26,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:26,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.cpp:22:
/usr/include/QGLViewer/frame.h:188:7: note: initializing argument 1 of ‘void qglviewer::Frame::getPosition(qreal&, qreal&, qreal&) const’
void getPosition(qreal& x, qreal& y, qreal& z) const;
^
In file included from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/main_viewer.cpp:25:0:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h: In member function ‘std::__cxx11::string AnimationObject::toString()’:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:136:26: error: invalid initialization of non-const reference of type ‘qreal& {aka double&}’ from an rvalue of type ‘qreal {aka double}’
frame.getPosition(x,y,z);
^
In file included from /usr/include/QGLViewer/keyFrameInterpolator.h:31:0,
from /usr/include/QGLViewer/camera.h:26,
from /usr/include/QGLViewer/qglviewer.h:26,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:26,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/main_viewer.cpp:25:
/usr/include/QGLViewer/frame.h:188:7: note: initializing argument 1 of ‘void qglviewer::Frame::getPosition(qreal&, qreal&, qreal&) const’
void getPosition(qreal& x, qreal& y, qreal& z) const;
^
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.cpp: In member function ‘virtual void PointCloudViewer::keyPressEvent(QKeyEvent*)’:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.cpp:327:44: error: invalid initialization of non-const reference of type ‘qreal& {aka double&}’ from an rvalue of type ‘qreal {aka double}’
camera()->frame()->getPosition(x,y,z);
^
In file included from /usr/include/QGLViewer/keyFrameInterpolator.h:31:0,
from /usr/include/QGLViewer/camera.h:26,
from /usr/include/QGLViewer/qglviewer.h:26,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:26,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.cpp:22:
/usr/include/QGLViewer/frame.h:188:7: note: initializing argument 1 of ‘void qglviewer::Frame::getPosition(qreal&, qreal&, qreal&) const’
void getPosition(qreal& x, qreal& y, qreal& z) const;
^
In file included from /usr/include/GL/glx.h:30:0,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:27:
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching.hpp:128:10: error: expected identifier before ‘int’
enum Status
^
In file included from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/opencv.hpp:86:0,
from /home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:31:
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching.hpp:129:5: error: expected unqualified-id before ‘{’ token
{
^
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp: In member function ‘void KeyFrameDisplay::setFrom(lsd_slam_viewer::keyframeMsgConstPtr)’:
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:98:106: warning: format ‘%u’ expects argument of type ‘unsigned int’, but argument 3 has type ‘long unsigned int’ [-Wformat=]
msg->pointcloud.size(), sizeof(InputPointDense), width, height, widthheightsizeof(InputPointDense));
^
/home/ghost/ar_navigation/src/hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:98:106: warning: format ‘%u’ expects argument of type ‘unsigned int’, but argument 6 has type ‘long unsigned int’ [-Wformat=]
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/build.make:62: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/main_viewer.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/main_viewer.o] Error 1
make[2]: *** Waiting for unfinished jobs....
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/build.make:86: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/PointCloudViewer.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/PointCloudViewer.o] Error 1
hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/build.make:110: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/KeyFrameDisplay.o' failed
make[2]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/KeyFrameDisplay.o] Error 1
CMakeFiles/Makefile2:539: recipe for target 'hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/all' failed
make[1]: *** [hypharos_ardrone_navigation/third_parties/lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
`

Hello,
I try many times to calibrate my drone with 'camera_calibration' node. But when I commit the result and use lsd_slam I have a bad result like this:

If you have a good result with your drone I just want your tips for a good calibration.

It's could be the resolution ? Because my calibration view is like that :

My calibration file :

image_width: 640
image_height: 352
camera_name: ardrone_front
camera_matrix:
rows: 3
cols: 3
data: [570.9902683884858, 0, 328.956626996734, 0, 569.8251065587548, 178.5418664651152, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.5647011921497734, 0.3479795365150913, -0.0008891926813252254, 0.002831456909685551, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [461.0075073242188, 0, 334.950547214743, 0, 0, 535.9346313476562, 178.169361178092, 0, 0, 0, 1, 0]

Hi all,
I want to change the voxel's color in octomap_rviz. For now I can select between Z-axis color and probability color.
I want to fix a new color to have the occupied voxels with a color and free voxels with an other.
Someone know how to do it? I don't find OctomapServer.cpp
Or, where is the source code of octomap with the definition of Z-axis and Probability color?

Thanks :)

Hi all,

I have download and edit octomap_server to made my own octomap generation like this :

With three types of voxels(Occupied, free and unknown).
I use Octomap.launch , the same as in ar_drone_moveit folder but in the octomap_server folder.

Now I want to use moveit to planify a path with my drone.
But when I use Demo.launch I have the default octomap generation like this :

Do you know how change the octomap generation by my version?

In a second time when I try to planify a path, I have this error : "No Planning Library Loaded"

And if I click on 'Plan' it failed immediately.
Someone see the cause of this problem?

EDIT: After some updates and packages installation, my problem with the planning library is solved!
I can plan a path and visualize it in RVIZ.
Thx

Hi,

Is there a way we can run this repo on ROS Melodic Ubuntu 18.04 setup? or anyone had tried please let me know. Thanks

The title expalins it, but Im used to moveit also having the option of a wanted z-coordinate, but in rviz here, only the 2D ground plane axis are moveable on the model?

Hello,
Thanks for this project.
I have a little problem when I use lsd_slam with the drone camera.
The memory allocation increase, after a moment the computer crash.
I didn't change your code or the lsd_slam code. It's could be the "ImageBuffer" ?

I take some screen-shots about that.
When I run "rosrun lsd_slam_core live_slam image:=/ardrone/front/image_raw _lib:=src/lsd_slam/lsd_slam_core/calib/ardrone_calibration.cfg"

After few seconds:

Best regards,

I moved to ros kinetic to indigo and now when i launch,
$ roslaunch cvg_sim_gazebo ardrone_testworld.launch

$ roslaunch tum_ardrone tum_ardrone.launch and I don't get drone camera feed window.

And then i tried,
$ rostopic echo /ardrone/front/camera_info

WARNING: no messages received and simulated time is active.
Is /clock being published?

$ rostopic info /ardrone/front/image_raw

Type: sensor_msgs/Image

Publishers: None

Subscribers:

• /gazebo (http://dyana-Inspiron-3542:35595/)

Am I missing some plugin (gazebo) that's preventing the publishing of image?

Can you provide some reference to the kinematic and dynamics equations of the quadrotor considered while motion planning and how they have been integrated while using moveIt? How do the motion planner that we find in motion planning plugin respond to the planning request as for a quadrotor?
Is the state of quadrotor represented with links analogous to state, (x,y,z,γ,β,α)
or
X = (t,x,y,z,V,β,α)
or
some other state space

I am running your package on ubuntu 16.04, ROS Kinetic and been able to build all packages using catkin_make without errors.
I also included the image_pipeline package as you were using it to rectify the drones images.

When running the camera calibration
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/ardrone/front/image_raw camera:=/ardrone/front/

I receive the following error:

kinetic@kinetic:~$ rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/ardrone/front/image_raw camera:=/ardrone/front/
('Waiting for service', '/ardrone/front/set_camera_info', '...')
OK
Exception in thread Thread-4:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/home/kinetic/catkin_ws/src/image_pipeline/camera_calibration/src/camera_calibration/camera_calibrator.py", line 107, in run
self.function(m)
File "/home/kinetic/catkin_ws/src/image_pipeline/camera_calibration/src/camera_calibration/camera_calibrator.py", line 181, in handle_monocular
max_chessboard_speed = self._max_chessboard_speed)
File "/home/kinetic/catkin_ws/src/image_pipeline/camera_calibration/src/camera_calibration/calibrator.py", line 725, in init
super(MonoCalibrator, self).init(*args, **kwargs)
TypeError: super() argument 1 must be type, not classobject

Has anyone faced this issue? Any help would be highly appreciated.

I am trying to run RViz, then I receive the error,
Transform error: Could not find a connection between 'map' and 'arm1' because they are not part of the same tree.Tf has two or more unconnected trees.

I checked for,
rosrun tf view_frames
and my tf looks like this,
frames.pdf

And I don't visualize the point cloud properly in RViz but just as a group of white clouds.

what could be reason for the error?