Error on Installing CCNY Package on Hydro
Hi guys, I am trying to run CCNY Package for kinect on hydro for mapping following http://wiki.ros.org/ccny_rgbd_tools, although the wiki is for groovy.
First I create a rosbuild workspace and a directory to download the package in it https://github.com/ccny-ros-pkg/ccny_rgbd_tools. After installing dependencies, I run rosmake ccnyrgbdtools. It shows Built 71 packages with 0 failures., but several files are missing. Then I run roslaunch ccnyopennilaunch openni.launch. It says that it is initiating. However, when I run roslaunch ccny_rgbd vo+mapping.launch, the program shuts down. The results of these commands are listed below (Please click on "more" for detail). Could someone tell me how to install the package on hydro? Many thanks.
Result of rosmake
rical@rical-CF-19RHRAX1M:~/rosbuildworkspace$ rosmake ccnyrgbdtools
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['ccnyrgbdtools']
[ rosmake ] Logging to directory /home/rical/.ros/rosmake/rosmakeoutput-20140327-131452
[ rosmake ] Expanded args ['ccnyrgbdtools'] to:
['librgbdtools', 'ccnyrgbddata', 'ccnyrgbd', 'ccnyopennilaunch']
[rosmake-0] Starting >>> ccnyrgbddata [ make ]
[rosmake-0] Finished <<< ccnyrgbddata ROSNOBUILD in package ccnyrgbddata
No Makefile in package ccnyrgbddata
[rosmake-0] Starting >>> librgbdtools [ make ]
[rosmake-1] Starting >>> catkin [ make ]
[rosmake-1] Finished <<< catkin ROSNOBUILD in package catkin
No Makefile in package catkin
[rosmake-2] Starting >>> ccnyopennilaunch [ make ]
[rosmake-2] Finished <<< ccnyopennilaunch ROSNOBUILD in package ccnyopennilaunch
[rosmake-2] Starting >>> genmsg [ make ]
[rosmake-1] Starting >>> consolebridge [ make ]
[rosmake-3] Starting >>> rospack [ make ]
[rosmake-1] Finished <<< consolebridge ROSNOBUILD in package consolebridge
No Makefile in package consolebridge
[rosmake-2] Finished <<< genmsg ROSNOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-1] Starting >>> cppcommon [ make ]
[rosmake-2] Starting >>> genlisp [ make ]
[rosmake-3] Finished <<< rospack ROSNOBUILD in package rospack
No Makefile in package rospack
[rosmake-3] Starting >>> genpy [ make ]
[rosmake-1] Finished <<< cppcommon ROSNOBUILD in package cppcommon
No Makefile in package cppcommon
[rosmake-1] Starting >>> gencpp [ make ]
[rosmake-2] Finished <<< genlisp ROSNOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-2] Starting >>> rostime [ make ]
[rosmake-1] Finished <<< gencpp ROSNOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-1] Starting >>> roslib [ make ]
[rosmake-2] Finished <<< rostime ROSNOBUILD in package rostime
No Makefile in package rostime
[rosmake-3] Finished <<< genpy ROSNOBUILD in package genpy
No Makefile in package genpy
[rosmake-3] Starting >>> messagegeneration [ make ]
[rosmake-2] Starting >>> roscpptraits [ make ]
[rosmake-1] Finished <<< roslib ROSNOBUILD in package roslib
No Makefile in package roslib
[rosmake-1] Starting >>> rosunit [ make ]
[rosmake-3] Finished <<< messagegeneration ROSNOBUILD in package messagegeneration
No Makefile in package messagegeneration
[rosmake-3] Starting >>> roslang [ make ]
[rosmake-3] Finished <<< roslang ROSNOBUILD in package roslang
No Makefile in package roslang
[rosmake-2] Finished <<< roscpptraits ROSNOBUILD in package roscpptraits
No Makefile in package roscpptraits
[rosmake-3] Starting >>> xmlrpcpp [ make ]
[rosmake-2] Starting >>> roscppserialization [ make ]
[rosmake-1] Finished <<< rosunit ROSNOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-2] Finished <<< roscppserialization ROSNOBUILD in package roscppserialization
No Makefile in package roscppserialization
[rosmake-3] Finished <<< xmlrpcpp ROSNOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-2] Starting >>> messageruntime [ make ]
[rosmake-3] Starting >>> rosgraph [ make ]
[rosmake-1] Starting >>> rosclean [ make ]
[rosmake-2] Finished <<< messageruntime ROSNOBUILD in package messageruntime
No Makefile in package messageruntime
[rosmake-1] Finished <<< rosclean ROSNOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-1] Starting >>> rosbagstorage [ make ]
[rosmake-3] Finished <<< rosgraph ROSNOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-3] Starting >>> rosbuild [ make ]
[rosmake-2] Starting >>> stdmsgs [ make ]
[rosmake-2] Finished <<< stdmsgs ROSNOBUILD in package stdmsgs
No Makefile in package stdmsgs
[rosmake-2] Starting >>> rosgraphmsgs [ make ]
[rosmake-3] Finished <<< rosbuild ROSNOBUILD in package rosbuild
No Makefile in package rosbuild
[rosmake-3] Starting >>> rosconsole [ make ]
[rosmake-1] Finished <<< rosbagstorage ROSNOBUILD in package rosbagstorage
No Makefile in package rosbagstorage
[rosmake-1] Starting >>> rosparam [ make ]
[rosmake-2] Finished <<< rosgraphmsgs ROSNOBUILD in package rosgraphmsgs
No Makefile in package rosgraphmsgs
[rosmake-3] Finished <<< rosconsole ROSNOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-1] Finished <<< rosparam ROSNOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-1] Starting >>> geometrymsgs [ make ]
[rosmake-2] Starting >>> rosmaster [ make ]
[rosmake-3] Starting >>> roscpp [ make ]
[rosmake-1] Finished <<< geometrymsgs ROSNOBUILD in package geometrymsgs
No Makefile in package geometrymsgs
[rosmake-1] Starting >>> sensormsgs [ make ]
[rosmake-2] Finished <<< rosmaster ROSNOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-3] Finished <<< roscpp ROSNOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-3] Starting >>> rospy [ make ]
[rosmake-2] Starting >>> rosout [ make ]
[rosmake-1] Finished <<< sensormsgs ROSNOBUILD in package sensormsgs
No Makefile in package sensormsgs
[rosmake-1] Starting >>> pclmsgs [ make ]
[rosmake-1] Finished <<< pclmsgs ROSNOBUILD in package pclmsgs1/71 Complete ]
No Makefile in package pclmsgs
[rosmake-1] Starting >>> pclconversions [ make ]
[rosmake-2] Finished <<< rosout ROSNOBUILD in package rosout
No Makefile in package rosout
[rosmake-2] Starting >>> roslaunch [ make ]
[rosmake-3] Finished <<< rospy ROSNOBUILD in package rospy
No Makefile in package rospy
[rosmake-3] Starting >>> classloader [ make ]
[rosmake-1] Finished <<< pclconversions ROSNOBUILD in package pclconversions
No Makefile in package pclconversions
[rosmake-1] Starting >>> smclib [ make ]
[rosmake-2] Finished <<< roslaunch ROSNOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-2] Starting >>> rostest [ make ]
[rosmake-3] Finished <<< classloader ROSNOBUILD in package classloader
No Makefile in package classloader
[rosmake-2] Finished <<< rostest ROSNOBUILD in package rostest
No Makefile in package rostest
[rosmake-2] Starting >>> topictools [ make ]
[rosmake-1] Finished <<< smclib ROSNOBUILD in package smclib
No Makefile in package smclib
[rosmake-3] Starting >>> messagefilters [ make ]
[rosmake-1] Starting >>> pluginlib [ make ]
[rosmake-3] Finished <<< messagefilters ROSNOBUILD in package messagefilters
No Makefile in package messagefilters
[rosmake-2] Finished <<< topictools ROSNOBUILD in package topictools
No Makefile in package topictools
[rosmake-1] Finished <<< pluginlib ROSNOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-3] Starting >>> bond [ make ]
[rosmake-1] Starting >>> actionlibmsgs [ make ]
[rosmake-2] Starting >>> rosbag [ make ]
[rosmake-3] Finished <<< bond ROSNOBUILD in package bond
No Makefile in package bond
[rosmake-1] Finished <<< actionlibmsgs ROSNOBUILD in package actionlibmsgs
No Makefile in package actionlibmsgs
[rosmake-1] Starting >>> actionlib [ make ]
[rosmake-3] Starting >>> bondcpp [ make ]
[rosmake-2] Finished <<< rosbag ROSNOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-2] Starting >>> rosmsg [ make ]
[rosmake-1] Finished <<< actionlib ROSNOBUILD in package actionlib
No Makefile in package actionlib
[rosmake-1] Starting >>> tf2msgs [ make ]
[rosmake-3] Finished <<< bondcpp ROSNOBUILD in package bondcpp
No Makefile in package bondcpp
[rosmake-3] Starting >>> nodelet [ make ]
[rosmake-2] Finished <<< rosmsg ROSNOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-2] Starting >>> rosservice [ make ]
[rosmake-1] Finished <<< tf2msgs ROSNOBUILD in package tf2msgs
No Makefile in package tf2msgs
[rosmake-1] Starting >>> tf2 [ make ]
[rosmake-3] Finished <<< nodelet ROSNOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-2] Finished <<< rosservice ROSNOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-1] Finished <<< tf2 ROSNOBUILD in package tf2
No Makefile in package tf2
[rosmake-1] Starting >>> tf2py [ make ]
[rosmake-3] Starting >>> angles [ make ]
[rosmake-2] Starting >>> dynamicreconfigure [ make ]
[rosmake-2] Finished <<< dynamicreconfigure ROSNOBUILD in package dynamicreconfigure
No Makefile in package dynamicreconfigure
[rosmake-2] Starting >>> nodelettopictools [ make ]
[rosmake-1] Finished <<< tf2py ROSNOBUILD in package tf2py
No Makefile in package tf2py
[rosmake-3] Finished <<< angles ROSNOBUILD in package angles
No Makefile in package angles
[rosmake-1] Starting >>> tf2ros [ make ]
[rosmake-3] Starting >>> rostopic [ make ]
[rosmake-2] Finished <<< nodelettopictools ROSNOBUILD in package nodelettopictools
No Makefile in package nodelettopictools
[rosmake-3] Finished <<< rostopic ROSNOBUILD in package rostopic
No Makefile in package rostopic
[rosmake-3] Starting >>> rosnode [ make ]
[rosmake-2] Starting >>> navmsgs [ make ]
[rosmake-1] Finished <<< tf2ros ROSNOBUILD in package tf2ros
No Makefile in package tf2ros
[rosmake-1] Starting >>> stdsrvs [ make ]
[rosmake-1] Finished <<< stdsrvs ROSNOBUILD in package stdsrvs
No Makefile in package stdsrvs
[rosmake-2] Finished <<< navmsgs ROSNOBUILD in package navmsgs
No Makefile in package navmsgs
[rosmake-2] Starting >>> opencv2 [ make ]
[rosmake-3] Finished <<< rosnode ROSNOBUILD in package rosnode
No Makefile in package rosnode
[rosmake-1] Starting >>> visualizationmsgs [ make ]
[rosmake-3] Starting >>> roswtf [ make ]
[rosmake-2] Finished <<< opencv2 ROSNOBUILD in package opencv2
No Makefile in package opencv2
[rosmake-1] Finished <<< visualizationmsgs ROSNOBUILD in package visualizationmsgs
No Makefile in package visualizationmsgs
[rosmake-2] Starting >>> cvbridge [ make ]
[rosmake-3] Finished <<< roswtf ROSNOBUILD in package roswtf
No Makefile in package roswtf
[rosmake-1] Starting >>> imagetransport [ make ]
[rosmake-3] Starting >>> tf [ make ]
[rosmake-2] Finished <<< cvbridge ROSNOBUILD in package cvbridge
No Makefile in package cvbridge
[rosmake-2] Starting >>> imagegeometry [ make ]
[rosmake-1] Finished <<< imagetransport ROSNOBUILD in package imagetransport
No Makefile in package imagetransport
[rosmake-3] Finished <<< tf ROSNOBUILD in package tf
No Makefile in package tf
[rosmake-3] Starting >>> pclros [ make ]
[rosmake-2] Finished <<< imagegeometry ROSNOBUILD in package imagegeometrye ]
No Makefile in package imagegeometry
[rosmake-3] Finished <<< pclros ROSNOBUILD in package pclros
No Makefile in package pclros
[rosmake-0] Finished <<< librgbdtools [PASS] [ 289.38 seconds ]
[rosmake-0] Starting >>> ccnyrgbd [ make ]
[ rosmake ] Output from build of package ccnyrgbd written to:e 70/71 Complete ]
[ rosmake ] /home/rical/.ros/rosmake/rosmakeoutput-20140327-131452/ccnyrgbd/buildoutput.log
[rosmake-0] Finished <<< ccny_rgbd [PASS] [ 263.35 seconds ] [ 10 warnings [ 2 deprecated ] ]
[ rosmake ] Results:
[ rosmake ] Built 71 packages with 0 failures.
[ rosmake ] Summary output to directory
Result of roslaunch ccnyopennilaunch openni.launch publish_cloud:=true
... logging to /home/rical/.ros/log/46d6a0de-b5e6-11e3-8ce2-58946b7e05e0/roslaunch-rical-CF-19RHRAX1M-8235.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://rical-CF-19RHRAX1M:53182/
SUMMARY
PARAMETERS * /opennidriver/depthcamerainfourl * /opennidriver/depthframeid * /opennidriver/depthmode * /opennidriver/deviceid * /opennidriver/imagemode * /opennidriver/rgbcamerainfourl * /opennidriver/rgbframeid * /rgbdimageproc/calibpath * /rgbdimageproc/publishcloud * /rgbdimageproc/scale * /rgbdimageproc/unwarp * /rgbdimageproc/verbose * /rosdistro * /rosversion
NODES / camerargbframetf (tf/statictransformpublisher) camerargbopticalframetf (tf/statictransformpublisher) debayer (nodelet/nodelet) opennidriver (nodelet/nodelet) rgbdimageproc (nodelet/nodelet) rgbd_manager (nodelet/nodelet)
ROSMASTERURI=http://localhost:11311
core service [/rosout] found process[rgbdmanager-1]: started with pid [8253] process[opennidriver-2]: started with pid [8254] [ INFO] [1395948678.399883393]: Loading nodelet /opennidriver of type opennicamera/driver to manager rgbdmanager with the following remappings: [ INFO] [1395948678.400663584]: /depth -> /camera/depth [ INFO] [1395948678.401024890]: /ir -> /camera/ir [ INFO] [1395948678.401392226]: /rgb -> /camera/rgb [ INFO] [1395948678.411296830]: waitForService: Service [/rgbdmanager/loadnodelet] has not been advertised, waiting... process[debayer-3]: started with pid [8288] [ INFO] [1395948678.502946327]: Initializing nodelet with 4 worker threads. [ INFO] [1395948678.523335837]: waitForService: Service [/rgbdmanager/loadnodelet] is now available. process[rgbdimageproc-4]: started with pid [8326] process[camerargbframetf-5]: started with pid [8340] process[camerargbopticalframetf-6]: started with pid [8367] [ INFO] [1395948681.505549070]: Number devices connected: 1 [ INFO] [1395948681.505831108]: 1. device on bus 002:11 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00361901462111A' [ INFO] [1395948681.507874941]: Searching for device with index = 1 [ INFO] [1395948681.598913979]: Opened 'SensorV2' on bus 2:11 with serial number 'A00361901462111A' [ INFO] [1395948682.027025131]: Initializing RGBD Image Proc Nodelet [ INFO] [1395948682.706638658]: Reading camera calibration files... [ INFO] [1395948683.236160169]: rgbframeid = '/camerargbopticalframe' [ INFO] [1395948683.236571635]: depthframeid = '/cameradepthopticalframe' [ WARN] [1395948683.249915885]: [rgbA00361901462111A] does not match name rgb in file /home/rical/rosbuildworkspace/sandbox/ccnyrgbdtools/ccnyrgbddata/calibrationopennidefault/rgb.yml [ WARN] [1395948683.254050863]: [depthA00361901462111A] does not match name depth in file /home/rical/rosbuildworkspace/sandbox/ccnyrgbdtools/ccnyrgbddata/calibrationopennidefault/depth.yml [ INFO] [1395948683.864803292]: Resampling scale set to 1.00 [ INFO] [1395948689.161460073]: Initializing [ INFO] [1395948689.161971899]: Initializing rectification maps
Result of roslaunch ccny_rgbd vo+mapping.launch
rical@rical-CF-19RHRAX1M:~$ roslaunch ccny_rgbd vo+mapping.launch ... logging to /home/rical/.ros/log/57fc691c-b5d1-11e3-b791-58946b7e05e0/roslaunch-rical-CF-19RHRAX1M-7765.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://rical-CF-19RHRAX1M:37174/
SUMMARY
PARAMETERS * /keyframemappernode/fullmapres * /keyframemappernode/kfangleeps * /keyframemappernode/kfdisteps * /keyframemappernode/maxrange * /keyframemappernode/maxstdev * /rosdistro * /rosversion * /visualodometrynode/baseframe * /visualodometrynode/feature/GFT/mindistance * /visualodometrynode/feature/GFT/nfeatures * /visualodometrynode/feature/ORB/nfeatures * /visualodometrynode/feature/ORB/threshold * /visualodometrynode/feature/SURF/threshold * /visualodometrynode/feature/detectortype * /visualodometrynode/feature/maxrange * /visualodometrynode/feature/maxstdev * /visualodometrynode/feature/publishfeaturecloud * /visualodometrynode/feature/publishfeaturecovariances * /visualodometrynode/feature/showkeypoints * /visualodometrynode/feature/smooth * /visualodometrynode/fixedframe * /visualodometrynode/publishtf * /visualodometrynode/reg/ICPProbModel/maxassocdistmah * /visualodometrynode/reg/ICPProbModel/maxcorrespdisteucl * /visualodometrynode/reg/ICPProbModel/maxiterations * /visualodometrynode/reg/ICPProbModel/maxmodelsize * /visualodometrynode/reg/ICPProbModel/nnearestneighbors * /visualodometrynode/reg/ICPProbModel/publishmodelcloud * /visualodometrynode/reg/ICPProbModel/publishmodelcovariances * /visualodometrynode/reg/motionconstraint * /visualodometrynode/reg/regtype * /visualodometry_node/verbose
NODES / keyframemappernode (ccnyrgbd/keyframemappernode) visualodometrynode (ccnyrgbd/visualodometrynode)
ROSMASTERURI=http://localhost:11311
core service [/rosout] found process[visualodometrynode-1]: started with pid [7783] process[keyframemappernode-2]: started with pid [7784] [visualodometrynode-1] process has died [pid 7783, exit code -4, cmd /home/rical/rosbuildworkspace/sandbox/ccnyrgbdtools/ccnyrgbd/bin/visualodometrynode _name:=visualodometrynode _log:=/home/rical/.ros/log/57fc691c-b5d1-11e3-b791-58946b7e05e0/visualodometrynode-1.log]. log file: /home/rical/.ros/log/57fc691c-b5d1-11e3-b791-58946b7e05e0/visualodometrynode-1.log [keyframemappernode-2] process has died [pid 7784, exit code -4, cmd /home/rical/rosbuildworkspace/sandbox/ccnyrgbdtools/ccnyrgbd/bin/keyframemappernode _name:=keyframemappernode _log:=/home/rical/.ros/log/57fc691c-b5d1-11e3-b791-58946b7e05e0/keyframemappernode-2.log]. log file: /home/rical/.ros/log/57fc691c-b5d1-11e3-b791-58946b7e05e0/keyframemappernode-2.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done
Asked by pinocchio on 2014-03-27 07:42:46 UTC
Comments
it seems to be installed right. why do you think any thing is missing? what happens if you just start "roslaunch ccny_openni_launch openni.launch publish_cloud:=true"? can you see rgb and depth image in rviz?
Asked by RodBelaFarin on 2014-03-27 08:48:17 UTC
Hi @RodBelaFarin thanks for you help. I say something is missing because it says "no file in ***" after rosmake. The detailed results of each step are listed in question (please click "more"). I would like to know if I need to change some code to apply this package on hydro? Also, is rosbuild ws OK?
Asked by pinocchio on 2014-03-27 09:45:19 UTC
ok, pls double check your ROS_PACKAGE_PATH if there are no makefiles found! rosbuild is OK, catkin would work also. just follow the installation steps from groovy step by step. For me this worked in Hydro without any changes.
Asked by RodBelaFarin on 2014-03-27 22:15:39 UTC
Hi @RodBelaFarin thank you so much. I add ROS_PACKAGE_PATH, but error exists. Could you please show me the result of running "roslaunch ccny_openni_launch openni.launch publish_cloud:=true" on your system? Many thanks.
Asked by pinocchio on 2014-03-28 05:11:33 UTC
sorry. atm i do not work any more on a pc with ROS.
Asked by RodBelaFarin on 2014-03-30 08:07:37 UTC