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"roslaunch pi_tracker skeleton.launch" Fails

asked 2011-03-13 11:46:48 -0500

updated 2016-10-24 08:58:57 -0500

ngrennan gravatar image
... logging to /home/geeko/.ros/log/5e3bf648-4dca-11e0-a040-001d92bb2297/roslaunch-geeko-MS-7312-12457.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://geeko-MS-7312:53390/


PARAMETERS  * /use_sim_time  * /skeleton_tracker/fixed_frame  * /skeleton_tracker/load_filepath  * /skeleton_tracker/holonomic  * /skeleton_tracker/skel_to_joint_map/right_shoulder
* /skeleton_tracker/tracking_rate  * /skeleton_tracker/skel_to_joint_map/right_hip
* /skeleton_tracker/command_rate  * /skeleton_tracker/skel_to_joint_map/left_foot
* /skeleton_tracker/skel_to_joint_map/left_elbow
* /skeleton_tracker/skel_to_joint_map/right_foot
* /skeleton_tracker/use_real_robot  * /skeleton_tracker/skel_to_joint_map/right_knee
* /skeleton_tracker/skel_to_joint_map/left_shoulder
* /skeleton_tracker/scale_drive_speed  * /skeleton_tracker/base_controller_rate
* /skeleton_tracker/skel_to_joint_map/left_knee
* /skeleton_tracker/base_control_side  * /rosdistro  * /robot_description  * /skeleton_tracker/skel_to_joint_map/head
* /skeleton_tracker/max_rotation_speed  * /rosversion  * /skeleton_tracker/skel_to_joint_map/torso
* /skeleton_tracker/skel_to_joint_map/right_hand
* /skeleton_tracker/skel_to_joint_map/right_elbow  * /skeleton_tracker/default_joint_speed 
* /skeleton_tracker/max_drive_speed  * /skeleton_tracker/scale_rotation_speed
* /robot_state_publisher/publish_frequency
* /skeleton_tracker/reverse_rotation  * /skeleton_tracker/skel_to_joint_map/neck
* /skeleton_tracker/skel_to_joint_map/left_hand
* /skeleton_tracker/joint_controller_rate
* /skeleton_tracker/skel_to_joint_map/left_hip

    robot_state_publisher (robot_state_publisher/state_publisher)
    kinect_base_link (tf/static_transform_publisher)
    kinect_base_link1 (tf/static_transform_publisher)
    kinect_base_link2 (tf/static_transform_publisher)
    kinect_base_link3 (tf/static_transform_publisher)
    skeleton_tracker (pi_tracker/skeleton_tracker)
    base_world_broadcaster (tf/static_transform_publisher)


core service [/rosout] found 
process[robot_state_publisher-1]: started with pid [12478] 
process[kinect_base_link-2]: started with pid [12479] 
process[kinect_base_link1-3]: started with pid [12480] 
process[kinect_base_link2-4]: started with pid [12482] 
process[kinect_base_link3-5]: started with pid [12495] 
process[skeleton_tracker-6]: started with pid [12505]
process[base_world_broadcaster-7]: started with pid [12512] 
[skeleton_tracker-6] process has died [pid 12505, exit code -11]. log files: /home/geeko/.ros/log/5e3bf648-4dca-11e0-a040-001d92bb2297/skeleton_tracker-6*.log
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2 Answers

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answered 2011-03-13 13:15:16 -0500

Pi Robot gravatar image

updated 2011-03-14 11:42:33 -0500

Hi GeniusGeeko,

Looks like the SamplesConfig.xml file disappeared in the new openni_kinect package recently released. As a quick fix, I have copied the SamplesConfig.xml file from the ni stack into the pi_tracker params directory and modified the skeleton.launch file accordingly. If you do a "svn update" in the pi_tracker directory, hopefully the launch will then work OK.


P.S. I just noticed that even though the above update fixed the problem on my machine, the skeleton_tracker process can sometimes die on the first attempt. If that occurs, type Ctrl-C in the launch window to kill all the nodes, then try the launch again. I think I have seen this before with other Kinect applications. Perhaps some kind of "wait for openni topic" is required in my skeleton_tracker.cpp file...

UPDATE: If you haven't already, roscd into pi_tracker, then run a "make clean" followed by "make" to rebuild the skeleton_tracker binary.

If this still doesn't work, can you please provide a little more info about your setup? Helpful information would include. Are you successfully running other ROS packages with your Kinect? Are you using Cturtle or Diamondback? Debian packages or SVN? Ubuntu or other OS? The NI stack from (which is now officially depreciated) or the newer openni_kinect stack? (And if the latter, the Debian package or the latest from the repository?)

Also, can you include whether or not your machine supports SSE3? On Ubuntu, you can use the command "cat /proc/cpuinfo | grep sse3" to see if appears among the flags.

Finally, can you run the following modified launch file that will fire up the gdb debugger which should tell us the error that is causing the process to die? When you launch this file, a separate xterm will pop up with a gdb prompt. When you get the prompt, enter the command "run" and then copy and paste any output that results. To close the gdb window, type the "quit" command:

    <param name="robot_description" command="$(find xacro)/ '$(find pi_tracker)/urdf/pi_robot.urdf.xacro'" />
    <param name="/use_sim_time" value="False" />

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
        <param name="publish_frequency" value="20.0"/>

    <include file="$(find openni_camera)/launch/kinect_frames.launch" />

    <node launch-prefix="xterm -e gdb --args" name="skeleton_tracker" pkg="pi_tracker" type="skeleton_tracker">
        <param name="load_filepath" value="$(find pi_tracker)/params/SamplesConfig.xml" />
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />

    <node pkg="tf" type="static_transform_publisher" name="base_world_broadcaster" args="0 0 0 0 0 0 /base_link /world 100" />
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Now I am getting.. [skeleton_tracker-6] process has died [pid 5930, exit code -4]. log files: /home/geeko/.ros/log/1e7cb524-4de8-11e0-9638-001d92bb2297/skeleton_tracker-6*.log
GeniusGeeko gravatar imageGeniusGeeko ( 2011-03-13 15:15:53 -0500 )edit
Can I get some more help here?
GeniusGeeko gravatar imageGeniusGeeko ( 2011-03-14 07:34:52 -0500 )edit
Please see the "Update" at the bottom of my answer above.
Pi Robot gravatar imagePi Robot ( 2011-03-14 11:42:55 -0500 )edit
Awesome it works perfectly now, do you have a IMing service we could use for further discussion?
GeniusGeeko gravatar imageGeniusGeeko ( 2011-03-15 09:50:40 -0500 )edit
For the people that are wondering, my processor didn't support SSE3 just SSE2.
GeniusGeeko gravatar imageGeniusGeeko ( 2011-03-16 04:50:15 -0500 )edit
Glad to hear it's working! Alas, I don't using IM (I can barely get enough done as it is) and I really like this forum since other users get to see the questions and answers.
Pi Robot gravatar imagePi Robot ( 2011-03-16 04:52:39 -0500 )edit
I read a little more on the wiki, I'm throwing a full overhaul on your teleoperation sections. I'm trying to make them a little more generic for other users. I am however running into troubles getting rviz simulation to work properly. It just shoots out thousands of errors.
GeniusGeeko gravatar imageGeniusGeeko ( 2011-03-16 06:09:06 -0500 )edit
Cool! Looking forward to your improvements.
Pi Robot gravatar imagePi Robot ( 2011-03-16 08:04:49 -0500 )edit

answered 2011-05-18 04:38:34 -0500

DrBill gravatar image

Hi, all:

Ubuntu 10.10 with ROS Kinect. Skel_tracker also crashing for me:

Program received signal SIGILL, Illegal instruction. 0xb3a98218 in NAGeneralData::Initialize(xn::DepthGenerator const&, Resolution) () from /usr/lib/

This is a NITE library. I have an SSE2, not SSE3 capable PC. Doomed until NITE available for SSE2?

Best regards.

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Hi Dr Bill--it looks like I messed up the pi_tracker SVN repository with a commit from a test version. I have just now restored the repository to the proper state, so the best option is probably to delete or move your current copy, then check it out again from Alternately, if you checked out the package a long time ago (before it was messed up) , you might get away by simply executing "make clean" in the pi_tracker directory and then "rosmake --rosdep-install". --patrick
Pi Robot gravatar imagePi Robot ( 2011-05-18 09:45:01 -0500 )edit

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Asked: 2011-03-13 11:46:48 -0500

Seen: 788 times

Last updated: May 18 '11