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Turtlebot Kinect fails since dropped 100.00% of messages and wireless crashed

asked 2012-03-07 07:27:10 -0600

Shan gravatar image

updated 2016-10-24 09:00:10 -0600

ngrennan gravatar image

Hi, I am planning to test "Visualizing TurtleBot Kinect Data". I followed the tutorial from this: http://ros.org/wiki/turtlebot/Tutorials/Looking%20at%20Camera%20Data

I started the turtlebot service on the Laptop, use "lsusb" , I saw the device id of Kinect, so I am sure that the Kinect is recognised correctly by the operating system.

Here is the output from the Turtlebot Laptop.

roslaunch turtlebot_bringup kinect.launch

... logging to /home/turtlebot/.ros/log/f79eacf2-5bd6-11e1-9247-485d607d9b81/roslaunch-turtlebot-laptop-2850.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://192.168.1.101:38535/

SUMMARY
========

PARAMETERS
 * /kinect_laser/max_height
 * /openni_camera/depth_rgb_rotation
 * /rosdistro
 * /openni_camera/image_mode
 * /openni_camera/image_time_offset
 * /openni_camera/projector_depth_baseline
 * /kinect_laser_narrow/output_frame_id
 * /openni_camera/depth_mode
 * /kinect_laser_narrow/max_height
 * /openni_camera/depth_frame_id
 * /openni_camera/depth_time_offset
 * /kinect_laser/output_frame_id
 * /rosversion
 * /openni_camera/depth_registration
 * /openni_camera/debayering
 * /openni_camera/depth_rgb_translation
 * /kinect_laser/min_height
 * /pointcloud_throttle/max_rate
 * /openni_camera/shift_offset
 * /kinect_laser_narrow/min_height
 * /openni_camera/rgb_frame_id

NODES
  /
    kinect_breaker_enabler (turtlebot_node/kinect_breaker_enabler.py)
    openni_manager (nodelet/nodelet)
    openni_camera (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)

ROS_MASTER_URI=http://192.168.1.101:11311

core service [/rosout] found
process[kinect_breaker_enabler-1]: started with pid [2877]
process[openni_manager-2]: started with pid [2878]
process[openni_camera-3]: started with pid [2882]
process[pointcloud_throttle-4]: started with pid [2883]
process[kinect_laser-5]: started with pid [2884]
process[kinect_laser_narrow-6]: started with pid [2885]
[kinect_breaker_enabler-1] process has finished cleanly.
log file: /home/turtlebot/.ros/log/f79eacf2-5bd6-11e1-9247-485d607d9b81/kinect_breaker_enabler-1*.log
[ INFO] [1329751680.368102392]: [/openni_camera] Number devices connected: 1
[ INFO] [1329751680.368697517]: [/openni_camera] 1. device on bus 001:09 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00363914970053A'
[ WARN] [1329751680.372477514]: [/openni_camera] device_id is not set! Using first device.
[ INFO] [1329751680.445963003]: [/openni_camera] Opened 'Xbox NUI Camera' on bus 1:9 with serial number 'A00363914970053A'
[ INFO] [1329751680.503487021]: rgb_frame_id = 'camera_rgb_optical_frame' 
[ INFO] [1329751680.510222876]: depth_frame_id = 'camera_depth_optical_frame'

Here is my Rviz output from the console when I run Rviz on my workstation.

rosrun rviz rviz
[ INFO] [1329925027.700765660]: rviz revision number 1.6.7
[ INFO] [1329925027.700862731]: ogre_tools revision number 1.6.2
[ INFO] [1329925027.700885502]: compiled against OGRE version 1.7.3 (Cthugha)
[ INFO] [1329925027.827477567]: Loading general config from [/home/turtlebot/.rviz/config]
[ INFO] [1329925027.827697158]: Loading display config from [/home/turtlebot/.rviz/display_config]
[ INFO] [1329925027.841158666]: RTT Preferred Mode is PBuffer.
[ INFO] [1329925028.176180815]: Texture for pass 0: creating with size 1 x 1
[ INFO] [1329925028.194146525]: Texture for pass 1: creating with size 1 x 1
[ INFO] [1329925028.287014274]: RTT Preferred Mode is PBuffer.
[ WARN] [1329925031.734023957]: Message from [/openni_manager] has a non-fully-qualified frame_id [camera_rgb_optical_frame]. Resolved locally to [/camera_rgb_optical_frame].  This is will likely not work in multi-robot systems.  This message will only print once.
[ WARN] [1329925032.081466459]: Message from [/openni_manager] has a non-fully-qualified frame_id [camera_rgb_optical_frame]. Resolved locally to [/camera_rgb_optical_frame].  This is will likely not work in multi-robot systems.  This message will only print once.
[ WARN] [1329925040.037531448]: Message from [/openni_manager] has a non-fully-qualified frame_id [camera_rgb_optical_frame]. Resolved locally to [/camera_rgb_optical_frame].  This is will likely not work in multi-robot systems.  This message will only ...
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I have exactly the same setup (Ubuntu 10.04, ROS electric...) and exactly the same problem (dropped 100% of messages). So what is the solution ?????

Chik gravatar imageChik ( 2013-03-04 13:37:50 -0600 )edit

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answered 2012-06-07 06:20:54 -0600

karthik gravatar image

Hi, One straight issue i see here is with the capacity of the transfer of clouds and images over the wireless communication. Advice would be to process the cloud and images at the laptop itself and get the results to the router. It might be actually problem with the configuration of the laptop.

Thanks, Karthik

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Would you explain in more detail what commands we need to type? Thank you very much.

Chik gravatar imageChik ( 2013-03-04 13:41:06 -0600 )edit
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answered 2013-03-05 04:28:36 -0600

dgossow gravatar image

It looks like you start the Kinect without anything that publishes tf information.

In that case, you need to set the fixed frame in RViz to 'camera_rgb_optical_frame' and not 'base_link', because there is no way for RViz to transform between the two.

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Furthermore, if working with different machines varying machine times can cause issues as well. Remember that tf is time-aware, so if your system contains tfs with big time differences, some might get discarded and your tf tree gets disconnected.

bit-pirate gravatar imagebit-pirate ( 2013-03-05 12:32:16 -0600 )edit

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Asked: 2012-03-07 07:27:10 -0600

Seen: 972 times

Last updated: Mar 05 '13