EuRoC Forum

Hi all,

We're having some issues with task 1.3.
This is the output of the intermediate evaluation:

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ERROR: got probably invalid input data in message for topic t1_2_workpiece:
position:
  x: 0.0
  y: 0.0
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0
[... lot of this messages omitted ...]
ERROR: got probably invalid input data in message for topic t1_2_workpiece:
position:
  x: 0.0
  y: 0.0
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0
position deviation [m]: 0.497472189648
position deviation [m]: 0.203385724459
position deviation [m]: 0.168529401415
position deviation [m]: 0.0739837198168
position deviation [m]: 0.126934032833
position deviation [m]: 0.126934032833
position deviation [m]: 0.108195231811
position deviation [m]: 0.108200376225
position deviation [m]: 0.108243824008
position deviation [m]: 0.108268735025
position deviation [m]: 0.108268735025
position deviation [m]: 1.05441160308
position deviation [m]: 1.05444119486
position deviation [m]: 1.04738743152
position deviation [m]: 1.04727486896
position deviation [m]: 0.108397561567
position deviation [m]: 1.09537956577
position deviation [m]: 1.15886536681
position deviation [m]: 1.15817965643
position deviation [m]: 1.0974565449
position deviation [m]: 1.0974706416
position deviation [m]: 1.09746635647
position deviation [m]: 1.09743742878
position deviation [m]: 1.09724119811
position deviation [m]: 1.0959885388
position deviation [m]: 1.0961334671
position deviation [m]: 1.0961380082
position deviation [m]: 1.04700180277
position deviation [m]: 1.0469997501
position deviation [m]: 1.05474883816
position deviation [m]: 1.09249608791
position deviation [m]: 1.09060659703
position deviation [m]: 1.054831404
position deviation [m]: 1.05480089468
position deviation [m]: 1.05479298616
position deviation [m]: 1.05490326801
position deviation [m]: 1.05496427096
----------- Scores ---------------
 score task 1.3: 0


----- Additional Information -----
Bag info:
path: /tmp/phprHPV1B
version: 2.0
duration: 25.438000
start: 47624.302000
end: 47649.740000
size: 18036290
messages: 96575
indexed: True
compression: none
types:
    - type: geometry_msgs/PoseStamped
      md5: d3812c3cbc69362b77dc0b19b345f8f5
    - type: rosgraph_msgs/Log
      md5: acffd30cd6b6de30f120938c17c593fb
    - type: std_msgs/Int32
      md5: da5909fbe378aeaf85e547e830cc1bb7
    - type: std_msgs/String
      md5: 992ce8a1687cec8c8bd883ec73ca41d1
    - type: tf/tfMessage
      md5: 94810edda583a504dfda3829e70d7eec
    - type: tf2_msgs/TFMessage
      md5: 94810edda583a504dfda3829e70d7eec
topics:
    - topic: active_task
      type: std_msgs/String
      messages: 1
    - topic: rosout
      type: rosgraph_msgs/Log
      messages: 657
      connections: 11
      frequency: 111.1111
    - topic: t1_3_pointedpose
      type: geometry_msgs/PoseStamped
      messages: 84
      frequency: 83.3333
    - topic: t1_3_pointedpose_gt
      type: geometry_msgs/PoseStamped
      messages: 84
      frequency: 76.9231
    - topic: tf
      type: tf/tfMessage
      messages: 95716
      connections: 7
    - topic: time_budget
      type: std_msgs/Int32
      messages: 33
      frequency: 2.0450

But calculating the distance from our estimated point and the gt (from tf) I got this distance:

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Distance: 0.000550753m

What does the server expect as output from the client?
We're currently publishing the point pose in the /t1_3_pointedpose topic as a pose stamped with frame id "world".
Is it correct? Do we need to publish also the tf?

Thanks in advance


Michele

Dear Michele,

the reference frame for task 1.3 t1_3_pointedpose is 'workpiece_link' (same frame_id as ground truth pose).
For task 1.2 t1_2_workpiece the reference frame is 'world'

No need to publish to tf.


Best regards