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ccny_openni_launch fail

asked 2013-12-04 03:50:23 -0600

7mdan92 gravatar image

I am trying to use ccny_rgbd_tools , I compiled the tools from the source , the output :

roslaunch ccny_openni_launch openni.launch publsh_cloud:=true

openni.launch publsh_cloud:=true ... logging to /root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/roslaunch-ubuntu-armhf-1174.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://ubuntu-armhf:45387/

SUMMARY

PARAMETERS * /openni_driver/depth_camera_info_url * /openni_driver/depth_frame_id * /openni_driver/depth_mode * /openni_driver/device_id * /openni_driver/image_mode * /openni_driver/rgb_camera_info_url * /openni_driver/rgb_frame_id * /rgbd_image_proc/calib_path * /rgbd_image_proc/publish_cloud * /rgbd_image_proc/scale * /rgbd_image_proc/unwarp * /rgbd_image_proc/verbose * /rosdistro * /rosversion

NODES / camera_rgb_frame_tf (tf/static_transform_publisher) camera_rgb_optical_frame_tf (tf/static_transform_publisher) debayer (nodelet/nodelet) openni_driver (nodelet/nodelet) rgbd_image_proc (nodelet/nodelet) rgbd_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[rgbd_manager-1]: started with pid [1192] [ INFO] [1386166814.932014355]: Initializing nodelet with 1 worker threads. process[openni_driver-2]: started with pid [1214] [ INFO] [1386166818.151105481]: Loading nodelet /openni_driver of type openni_camera/driver to manager rgbd_manager with the following remappings: [ INFO] [1386166818.168595981]: /depth -> /camera/depth [ INFO] [1386166818.182154397]: /ir -> /camera/ir [ INFO] [1386166818.190459147]: /rgb -> /camera/rgb [ INFO] [1386166821.764989731]: Number devices connected: 1 [ INFO] [1386166822.137412189]: 1. device on bus 001:04 is a SensorV2 (601) from PrimeSense (1d27) with serial id '1301040309' [ INFO] [1386166822.158497814]: Searching for device with index = 1 [ INFO] [1386166822.586708023]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /root/catkin_ws/src/openni_camera/src/openni_device.cpp @ 65 : creating image generator failed. Reason: Failed to set USB interface! process[debayer-3]: started with pid [1251] [ INFO] [1386166825.679466898]: Number devices connected: 1 [ INFO] [1386166825.688282565]: 1. device on bus 001:04 is a SensorV2 (601) from PrimeSense (1d27) with serial id '1301040309' [ INFO] [1386166825.708856357]: Searching for device with index = 1 [ INFO] [1386166825.748079148]: Opened 'SensorV2' on bus 1:4 with serial number '1301040309' [ERROR] [1386166826.468534148]: Failed to load nodelet [/debayer] of type [image_proc/debayer]: According to the loaded plugin descriptions the class image_proc/debayer with base class type nodelet::Nodelet does not exist. Declared types are ccny_rgbd/RGBDImageProcNodelet openni_camera/driver pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid test_nodelet/ConsoleTest test_nodelet/Plus test_nodelet_topic_tools/NodeletThrottleString [FATAL] [1386166826.486667607]: Service call failed! [debayer-3] process has died [pid 1251, exit code 255, cmd /root/catkin_ws/devel/lib/nodelet/nodelet load image_proc/debayer rgbd_manager image_raw:=/camera/rgb/image_raw image_color:=/camera/rgb/image_color __name:=debayer __log:=/root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/debayer-3.log]. log file: /root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/debayer-3.log process[rgbd_image_proc-4]: started with pid [1321] [ INFO] [1386166830.955137816]: rgb_frame_id = '/camera_rgb_optical_frame' [ INFO] [1386166830.964522691]: depth_frame_id = '/camera_depth_optical_frame' [ WARN] [1386166831.168540649]: [rgb_1301040309] does not match name rgb in file /root/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd_data/calibration_openni_default/rgb.yml [ WARN] [1386166831.219288024]: [depth_1301040309] does not match name depth in file /root/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd_data/calibration_openni_default/depth.yml [ERROR] [1386166833.444105024]: Failed to load nodelet [/rgbd_image_proc] of type [ccny_rgbd/RGBDImageProcNodelet]: Failed to load library /root ...

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That output is unreadable. Please use 4 spaces to indent code, or use the "preformatted text" button ("101010") when editing your answer. Unfortunately, the line breaks are messed up, otherwise I'd do it for you.

Martin Günther gravatar imageMartin Günther ( 2014-01-26 21:47:35 -0600 )edit

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answered 2014-01-22 04:50:23 -0600

sai gravatar image

Looks like the opencv libraries are not supported. I would ask you to download the ccny_rgbd_tools from this link https://dl.dropboxusercontent.com/u/95042389/ccny_rgbd_tools.zip

This should work on ubuntu 12.04 and fuerte with rosbuild system.

  1. Remove the libg2o libraries from ubuntu software center
  2. rosdep install ccny_rgbd_tools then rosmake and hope fully it will work
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I wouldn't recommend using some zip file. It's a git repo for a reason, so better figure out what branch / commit works for what setup. If we don't keep code in *one* place, things will just start to get chaotic.

Martin Günther gravatar imageMartin Günther ( 2014-01-26 21:49:14 -0600 )edit

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Asked: 2013-12-04 03:50:23 -0600

Seen: 287 times

Last updated: Jan 22 '14