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depth_image_proc couldn't find executable

asked 2018-01-16 04:50:53 -0600

Markovicho gravatar image

Hey :-)

I'm struggeling with the following problem:

System:

  • Ubuntu 16.04 64 Bit
  • ROS Kinetic (Desktop-Full) installed out of the repository via "apt install"

What I did:

  • Recorded a stream from Lenovo Phab2 (Tango Pointcloud) with all topics into an rosbag file. So far so good :-)

What I want to achieve:

  • Using the depth_image_proc package to join the information of the rgb-camera and the pointcloud-data with the node depth_image_proc/point_cloud_xyzrgb.

i am allowed to run a command like this without any troubles :

rosrun pcl_ros bag_to_pcd record.bag /tango/camera/color_1/image_rect

In my understanding i should be allowed to replace pcl_ros (package) and bag_to_pcd (node) with depth_image_proc (package) and point_cloud_xyzrgb (node).

But already running this command will prompt into an error:

rosrun depth_image_proc point_cloud_xyzrgb 

[rosrun] Couldn't find executable named point_cloud_xyzrgb below /opt/ros/kinetic/share/depth_image_proc

Investigations:

entering

rosrun pcl_ros + TAB

will show me the available nodes for pcl_ros. This mechanism is also not working with depth_image_proc. What could be wrong with the environment or am i doing something essentially wrong ? oO

thanks in advance and best regards

Mark

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Quick check: do you have depth_image_proc installed? What is the output of dpkg -l | grep depth-image-proc?

gvdhoorn gravatar imagegvdhoorn ( 2018-01-16 05:32:29 -0600 )edit

output:

ii ros-kinetic-depth-image-proc 1.12.22-0xenial-20180105-150342-0800 amd64 Contains nodelets for processing depth images such as those produced by OpenNI camera.

Markovicho gravatar imageMarkovicho ( 2018-01-16 05:43:12 -0600 )edit

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answered 2018-01-16 05:56:15 -0600

gvdhoorn gravatar image

updated 2018-01-16 05:57:15 -0600

But already running this command will prompt into an error:

$ rosrun depth_image_proc point_cloud_xyzrgb 
[rosrun] Couldn't find executable named point_cloud_xyzrgb below /opt/ros/kinetic/share/depth_image_proc

This is normal: depth_image_proc does not provide any nodes (ie: binaries), but only nodelets (ie: libraries). The wiki page on depth_image_proc also mentions that:

Contains nodelets for processing depth images such as those produced by OpenNI camera.

You cannot run nodelets using rosrun, they can only be loaded into a nodelet manager.

See wiki/nodelets for more info on nodelets, and see wiki/nodelets/Running a nodelet for a tutorial on the basics of running a nodelet.

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thank you!

Markovicho gravatar imageMarkovicho ( 2018-01-16 08:01:44 -0600 )edit

No problem.

Note that instead of starting your own nodelet manager, you'll probably want to reuse the manager that is already used by the Tango 'driver' (provided it uses/is a nodelet).

If you start a new one, you'll lose the zero-copy advantages.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-16 08:04:08 -0600 )edit

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Asked: 2018-01-16 04:50:53 -0600

Seen: 426 times

Last updated: Jan 16 '18