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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/rosmake
output-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 <<< ccny
opennilaunch ROSNOBUILD in package ccnyopennilaunch [rosmake-2] Starting >>> genmsg [ make ]
[rosmake-1] Starting >>> consolebridge [ make ]
[rosmake-3] Starting >>> rospack [ make ]
[rosmake-1] Finished <<< console
bridge 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 ROS
NOBUILD 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 ROS
NOBUILD 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 >>> roscpp
traits [ make ]
[rosmake-1] Finished <<< roslib ROSNOBUILD in package roslib No Makefile in package roslib [rosmake-1] Starting >>> rosunit [ make ]
[rosmake-3] Finished <<< message
generation ROSNOBUILD in package messagegeneration No Makefile in package messagegeneration [rosmake-3] Starting >>> roslang [ make ]
[rosmake-3] Finished <<< roslang ROS
NOBUILD 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 ROS
NOBUILD 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 >>> std
msgs [ make ]
[rosmake-2] Finished <<< stdmsgs ROSNOBUILD in package stdmsgs No Makefile in package stdmsgs [rosmake-2] Starting >>> rosgraphmsgs [ make ]
[rosmake-3] Finished <<< rosbuild ROS
NOBUILD 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 <<< geometry
msgs 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 <<< pcl
msgs 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 ROS
NOBUILD in package rospy No Makefile in package rospy [rosmake-3] Starting >>> classloader [ make ]
[rosmake-1] Finished <<< pcl
conversions ROSNOBUILD in package pclconversions No Makefile in package pclconversions [rosmake-1] Starting >>> smclib [ make ]
[rosmake-2] Finished <<< roslaunch ROS
NOBUILD 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 >>> actionlib
msgs [ 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 ROS
NOBUILD 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 ROS
NOBUILD 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 <<< dynamic
reconfigure ROSNOBUILD in package dynamicreconfigure No Makefile in package dynamicreconfigure [rosmake-2] Starting >>> nodelettopictools [ make ]
[rosmake-1] Finished <<< tf2
py 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 <<< nodelet
topictools 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 >>> nav
msgs [ make ]
[rosmake-1] Finished <<< tf2ros ROSNOBUILD in package tf2ros No Makefile in package tf2ros [rosmake-1] Starting >>> stdsrvs [ make ]
[rosmake-1] Finished <<< std
srvs 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 ROS
NOBUILD in package rosnode No Makefile in package rosnode [rosmake-1] Starting >>> visualizationmsgs [ make ]
[rosmake-3] Starting >>> roswtf [ make ]
[rosmake-2] Finished <<< opencv2 ROS
NOBUILD 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 ROS
NOBUILD in package roswtf No Makefile in package roswtf [rosmake-1] Starting >>> imagetransport [ make ]
[rosmake-3] Starting >>> tf [ make ]
[rosmake-2] Finished <<< cv
bridge 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 >>> ccny
rgbd [ 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

Answers