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raspicam_node

asked 2017-10-27 14:03:45 -0600

elpidiovaldez gravatar image

I am following the raspicam_node instructions from raspicam_node on github. I am using raspbian, I installed ROS Kinetic from source. I installed the Raspberry camera V" (it works for stills and video). Then I followed the instructions from github to install raspicam_node. I had to use catkin_make_isolated --pkg raspicam_node instead of catkin_make.

The make appeared to run without errors and rospack list shows raspicam_node in the list of packages. Unfortunately roslaunch fails giving:

roslaunch raspicam_node camera_module_v2_640x480_30fps.launch
... logging to /home/pi/.ros/log/ea0f7ee6-bb42-11e7-be9c-247703b09b04/roslaunch-thalia-3528.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://thalia:43418/

SUMMARY
========

PARAMETERS
 * /raspicam_node/camera_frame_id: raspicam
 * /raspicam_node/camera_info_url: package://raspica...
 * /raspicam_node/framerate: 30
 * /raspicam_node/height: 480
 * /raspicam_node/width: 640
 * /rosdistro: kinetic
 * /rosversion: 1.12.5

NODES
  /
    raspicam_node (raspicam_node/raspicam_node)

ROS_MASTER_URI=http://zen:11311

core service [/rosout] found
ERROR: cannot launch node of type [raspicam_node/raspicam_node]: can't locate node [raspicam_node] in package [raspicam_node]
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete

I have tried to find an executable for raspicam_node without success. My problem is that I am not familiar with ROS or cmake and am overwhelmed my abstraction and complexity when I try to find out what is going on. I am not sure that anything was actually built at all ! What should the output of the raspicam build be ? Roughly where should I look for it ?

The output of the build was:

catkin_make_isolated --pkg raspicam_node
Base path: /home/pi/Documents/ROS/ros_catkin_ws
Source space: /home/pi/Documents/ROS/ros_catkin_ws/src
Build space: /home/pi/Documents/ROS/ros_catkin_ws/build_isolated
Devel space: /home/pi/Documents/ROS/ros_catkin_ws/devel_isolated
Install space: /home/pi/Documents/ROS/ros_catkin_ws/install_isolated
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~  traversing 120 packages in topological order:
~~  - catkin
~~  - genmsg
~~  - gencpp
~~  - geneus
~~  - genlisp
~~  - gennodejs
~~  - genpy
~~  - angles
~~  - bond_core
~~  - cmake_modules
~~  - class_loader
~~  - common_msgs
~~  - cpp_common
~~  - image_common
~~  - image_pipeline
~~  - image_transport_plugins
~~  - laser_pipeline
~~  - message_generation
~~  - message_runtime
~~  - mk
~~  - nodelet_core
~~  - opencv3 (plain cmake)
~~  - orocos_kdl (plain cmake)
~~  - perception
~~  - perception_pcl
~~  - python_orocos_kdl (plain cmake)
~~  - ros
~~  - ros_base
~~  - ros_comm
~~  - ros_core
~~  - rosbag_migration_rule
~~  - rosbash
~~  - rosboost_cfg
~~  - rosbuild
~~  - rosclean
~~  - roscpp_core
~~  - roscpp_traits
~~  - roscreate
~~  - rosgraph
~~  - roslang
~~  - roslisp
~~  - rosmake
~~  - rosmaster
~~  - rospack
~~  - roslib
~~  - rosparam
~~  - rospy
~~  - rosservice
~~  - rostime
~~  - roscpp_serialization
~~  - roslaunch
~~  - rosunit
~~  - rosconsole
~~  - pluginlib
~~  - rosconsole_bridge
~~  - roslz4
~~  - rosbag_storage
~~  - rostest
~~  - smclib
~~  - std_msgs
~~  - actionlib_msgs
~~  - bond
~~  - diagnostic_msgs
~~  - geometry_msgs
~~  - eigen_conversions
~~  - nav_msgs
~~  - rosgraph_msgs
~~  - rosmsg
~~  - sensor_msgs
~~  - image_geometry
~~  - pcl_msgs
~~  - shape_msgs
~~  - std_srvs
~~  - stereo_msgs
~~  - tf2_msgs
~~  - tf2
~~  - tf2_eigen
~~  - trajectory_msgs
~~  - vision_opencv
~~  - visualization_msgs
~~  - xmlrpcpp
~~  - roscpp
~~  - bondcpp
~~  - bondpy
~~  - camera_calibration_parsers
~~  - nodelet
~~  - pcl_conversions
~~  - rosout
~~  - camera_calibration
~~  - cv_bridge
~~  - dynamic_reconfigure
~~  - filters
~~  - message_filters
~~  - image_transport
~~  - camera_info_manager
~~  - polled_camera
~~  - rosnode
~~  - rostopic
~~  - roswtf
~~  - tf2_py
~~  - topic_tools
~~  - rosbag
~~  - actionlib
~~  - compressed_depth_image_transport
~~  - compressed_image_transport
~~  - image_proc
~~  - image_view
~~  - nodelet_topic_tools
~~  - raspicam_node
~~  - stereo_image_proc
~~  - tf2_ros
~~  - depth_image_proc
~~  - tf
~~  - laser_geometry
~~  - laser_assembler
~~  - laser_filters
~~  - pcl_ros
~~  - tf2_geometry_msgs
~~  - image_rotate
~~  - theora_image_transport
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Skipping package: 'catkin'
Skipping package: 'genmsg'
Skipping package: 'gencpp'
Skipping package: 'geneus'
Skipping package: 'genlisp'
Skipping package: 'gennodejs'
Skipping package: 'genpy'
Skipping package: 'angles'
Skipping package: 'bond_core'
Skipping package: 'cmake_modules'
Skipping package: 'class_loader'
Skipping package: 'common_msgs'
Skipping package: 'cpp_common'
Skipping package: 'image_common'
Skipping package: 'image_pipeline'
Skipping package: 'image_transport_plugins'
Skipping package: 'laser_pipeline'
Skipping package: 'message_generation'
Skipping package: 'message_runtime'
Skipping package: 'mk'
Skipping package: 'nodelet_core'
Skipping package: 'opencv3'
Skipping package: 'orocos_kdl'
Skipping package: 'perception'
Skipping ...
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Comments

You can create new catkin workspace to build raspicam_node package. This will at least get rid of checking packages that are already installed on your system.

l4ncelot gravatar image l4ncelot  ( 2017-10-30 02:57:06 -0600 )edit

Don't forget to source your new workspace though.

l4ncelot gravatar image l4ncelot  ( 2017-10-30 02:57:43 -0600 )edit

1 Answer

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answered 2021-04-13 12:58:04 -0600

DrBot gravatar image

Here are notes for updating a Ubiquity Robotics Magni to Noetic, This includes raspicam_node:

From ubiquity image 16.04

remove ros, disable magni-base.system, comment out last three lines of .bashrc

update upgrade to 18.04 and then 20.04 best to do this while not mounted in robot, connected directly with hdmi, keyboard/mouse – wired ethernet. I’ve had lots of difficulty with the pi 4 I am using losing wireless – this might be just a flakey Pi 4.

This also may involve removal of certain packages. After getting to 20.04 I needed to reinstall lubuntu-desktop and gdm3 (lightdm and sddm seemed to break after 20.04)

ubuntu-20.04.2-preinstalled-server-armhf+raspi.img.xz

starting from 20.04 image use u-boot to add bootdelay – 2 so can boot inserted into Magni add gpu_mem=128 start_x=1 to config.txt to enable raspicam

some of these installs might be duplicates of already installed packages

22 sudo apt install mlocate 25 sudo apt install python-setuptools python3-setuptools 28 sudo apt install unzip 34 sudo apt install make

37 sudo apt install build-essential

ROS + catkin install via typical instructions, but note ros-noetic-desktop-full does not exist for the arm32 (armhf71) architecture

46 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update sudo apt install ros-noetic-desktop

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool (note python3-rosdep NOT python3-rosdep2 !!!!!!!!!

source ros environment

sudo apt install ros-noetic-usb-cam* sudo apt install net-tools sudo apt install network-manager sudo apt install ros-noetic-rosbridge* sudo apt install python-is-python3 sudo apt install ros-noetic-tf2* 160 sudo apt install ros-noetic-teleop-twist*

vision, navigation image

Optional, proabably not needed or already part of tf2*: sudo apt-get install ros-noetic-velocity-controllers sudo apt install ros-noetic-diff-drive-controller sudo apt install ros-noetic-joint-state-controller

catkin

?sudo apt install chrony

????------optional---- suggest not using raspi-config on ubuntu------???? sudo dpkg -i /tmp/raspi-config_20200601_all.deb 10 sudo raspi-config install userland ????? may not need if already installed from 16.04 image ????

sudo snap install rpi-userland –edge

copy the userland/opt/vc from snap to opt/vc (this installs the mmal libraries)

pigpiod is needed for pi_sonar

wget https://github.com/joan2937/pigpio/ar... unzip master.zip cd pigpio-master/ make sudo make install

sudo rosdep init rosdep update

catkin mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/ $ catkin_make

72 git clone http://github.com/ubiquityrobotics/ub... 73 git clone http://github.com/ubiquityrobotics/ma... 74 git clone http://github.com/ubiquityrobotics/pi... 75 git clone http://github.com/ubiquityrobotics/ol...

80 git clone http://github.com/wjwwood/serial git clone http://github.com/ubiquityrobotics/mo...

edit pi_sonar.cpp add #include <boost format.hpp="">

edit launch base add () to prints ??? may have been done already

edit test_motor.py in ubiquity_motor replace 2 ‘,e’ to ‘as e’

catkin_make

tested

on my version raspistill works, magni_base, pi_sonar, oled_display all work, I could drive with logitech.

Not working - wifi - not sure if software/firmware or this Pi 4 ... (more)

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Could you please update your answer using the preformatted text (101010) button? Right now, it's very difficult to read and using that button will make it more readable

jayess gravatar image jayess  ( 2021-04-13 19:26:35 -0600 )edit

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Asked: 2017-10-27 14:03:45 -0600

Seen: 2,479 times

Last updated: Apr 13 '21