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Problem of "Please point me at a wall." with turtlebot_calibration

asked 2013-02-04 15:48:30 -0500

mpthompson gravatar image

I'm a ROS newby attempting to bring up a TurtleBot with ROS Fuerte and Ubuntu 12.04. I've got the laptop and TurtleBot configured and can get the turtlebot_dashboard going and drive the robot around with a keyboard using the keyboard teleop. I can also apply power to the Kinect device and see the three requisite Microsoft USB devices with 'lsusb':

Bus 001 Device 010: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 017: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 018: ID 045e:02ae Microsoft Corp. Xbox NUI Camera

The problem I have is with turtlebot_calibration. I get the following output:

-------------------------------------------------------------------------
turtlebot@turtlebot ~ $ roslaunch turtlebot_calibration calibrate.launch
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;//192.168.0.38;56954/

SUMMARY
========

PARAMETERS
 * /kinect_laser/max_height
 * /kinect_laser/min_height
 * /kinect_laser/output_frame_id
 * /kinect_laser_narrow/max_height
 * /kinect_laser_narrow/min_height
 * /kinect_laser_narrow/output_frame_id
 * /openni_launch/debayering
 * /openni_launch/depth_frame_id
 * /openni_launch/depth_mode
 * /openni_launch/depth_registration
 * /openni_launch/depth_time_offset
 * /openni_launch/image_mode
 * /openni_launch/image_time_offset
 * /openni_launch/rgb_frame_id
 * /pointcloud_throttle/max_rate
 * /rosdistro
 * /rosversion
 * /scan_to_angle/max_angle
 * /scan_to_angle/min_angle

NODES
  /
    kinect_breaker_enabler (turtlebot_node/kinect_breaker_enabler.py)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)
    openni_launch (nodelet/nodelet)
    openni_manager (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    scan_to_angle (turtlebot_calibration/scan_to_angle.py)
    turtlebot_calibration (turtlebot_calibration/calibrate.py)

ROS_MASTER_URI=http;//192.168.0.38;11311

core service [/rosout] found
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[kinect_breaker_enabler-1]: started with pid [2132]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[openni_manager-2]: started with pid [2133]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[openni_launch-3]: started with pid [2139]
[ INFO] [1360034582.865846913]: Initializing nodelet with 2 worker threads.
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[pointcloud_throttle-4]: started with pid [2199]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[kinect_laser-5]: started with pid [2218]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[kinect_laser_narrow-6]: started with pid [2240]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[scan_to_angle-7]: started with pid [2264]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[turtlebot_calibration-8]: started with pid [2266]
[kinect_breaker_enabler-1] process has finished cleanly
log file: /home/turtlebot/.ros/log/0f317c9e-6f42-11e2-a312-74f06d7d6e3b/kinect_breaker_enabler-1*.log
[ INFO] [1360034585.493648021]: [/openni_launch] Number devices connected: 1
[ INFO] [1360034585.494195015]: [/openni_launch] 1. device on bus 001:18 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00366910379111A'
[ WARN] [1360034585.498586615]: [/openni_launch] device_id is not set! Using first device.
[ INFO ...
(more)
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Comments

Can you view the data from the Kinect?

tfoote gravatar image tfoote  ( 2013-02-04 17:20:34 -0500 )edit

Yes, I can view both image and depth data from the Kinect following the instructions here: http://surenkum.blogspot.com/2012/06/getting-kinect-to-work.html

mpthompson gravatar image mpthompson  ( 2013-02-05 14:23:49 -0500 )edit

2 Answers

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answered 2013-03-28 17:09:28 -0500

fergs gravatar image

The problem here turned out to be topics not be remapped properly. This is now fixed in source (see commit here), version 2.0.2 should be released shortly and so debs will be updated in a few days.

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Comments

I've applied the changes, but the problem persists. I'm using Fuerte. Any suggestions?

Zayin gravatar image Zayin  ( 2013-06-04 05:36:59 -0500 )edit

I honestly have no idea what shape the Fuerte release is in. I only tried groovy, and would generally suggest using groovy at this point since releases into Fuerte are few and far between.

fergs gravatar image fergs  ( 2013-06-04 21:43:06 -0500 )edit

I reverted back to the old config and made it work my modifying kinect.launch. So I guess the old config was appropriate on Fuerte. I don't want to switch to Groovy because making everything work took a lot of time, and I don't want to go through that process again, at least not yet!

Zayin gravatar image Zayin  ( 2013-06-05 04:52:20 -0500 )edit
0

answered 2013-02-17 13:02:22 -0500

I'm having the same issue; the kinet is working well, the scan data is been published in the corresponding topic, but the calibration routine always shows the same error message. Someone has anyidea?

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Asked: 2013-02-04 15:48:30 -0500

Seen: 1,236 times

Last updated: Mar 28 '13