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pointcloud_to_laserscan error on eddiebot stack

asked 2013-03-17 11:58:58 -0500

konet gravatar image

Hi everybody, I'm trying to run successfully the following launch file: robotictang/eddiebot/blob/master/eddiebot/eddiebot_bringup/kinect.launch

    root@ubuntu:/opt/ros/groovy/share# roslaunch eddiebot_bringup kinect.launch
... logging to /home/omar/.ros/log/08c16556-8f48-11e2-9041-68a3c42c6822/roslaunch-ubuntu-7662.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 

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

NODES
  /
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)
    openni_launch (nodelet/nodelet)
    openni_manager (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)



core service [/rosout] found
process[openni_manager-1]: started with pid [7683]
process[openni_launch-2]: started with pid [7684]
process[pointcloud_throttle-3]: started with pid [7704]
process[kinect_laser-4]: started with pid [7730]
process[kinect_laser_narrow-5]: started with pid [7764]
[ INFO] [1363556169.497509524]: Initializing nodelet with 4 worker threads.
[ERROR] [1363556169.517297970]: Failed to load nodelet [/pointcloud_throttle] of type [pointcloud_to_laserscan/CloudThrottle]: According to the loaded plugin descriptions the class pointcloud_to_laserscan/CloudThrottle with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 uvc_camera/CameraNodelet uvc_camera/StereoNodelet
[ERROR] [1363556169.522330024]: Failed to load nodelet [/kinect_laser] of type [pointcloud_to_laserscan/CloudToScan]: According to the loaded plugin descriptions the class pointcloud_to_laserscan/CloudToScan with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 uvc_camera/CameraNodelet uvc_camera/StereoNodelet
[FATAL] [1363556169.523161694]: Service call failed!
[FATAL] [1363556169.524654815]: Service call failed!
[ERROR] [1363556169.525195480]: Failed to load nodelet [/kinect_laser_narrow] of type [pointcloud_to_laserscan/CloudToScan]: According to the loaded plugin descriptions the class pointcloud_to_laserscan/CloudToScan with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 uvc_camera/CameraNodelet uvc_camera/StereoNodelet
[FATAL] [1363556169.526699191]: Service call failed!
[ERROR] [1363556169.528594041]: Failed to load nodelet [/openni_launch] of type [openni_camera/OpenNINodelet]: According to the loaded plugin descriptions the class openni_camera/OpenNINodelet with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb ...
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3 Answers

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answered 2013-03-20 17:32:58 -0500

konet gravatar image

updated 2013-03-20 17:33:36 -0500

thank you it worked, here is my generic kinect.launch file

<launch>

<include file="$(find openni_launch)/launch/openni.launch"/> <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager"> <remap from="image" to="/camera/depth/image_raw"/> </node>

</launch>

do I need to modify anything else?

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Comments

Apparently not, if it worked :)

Jon Stephan gravatar image Jon Stephan  ( 2013-03-21 15:22:59 -0500 )edit
2

answered 2013-03-17 15:38:40 -0500

I seem to remember having this problem, and I ended up using depthimage_to_laserscan.

My launch file ended up looking like this:

  <include file="$(find yertle)/launch/openni.launch"/> 
  <!-- fake laser -->
  <node machine="robot" pkg="nodelet" type="nodelet" name="kinect_laser" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
    <param name="output_frame_id" value="/scanner"/>
    <remap from="image" to="/camera/depth/image_raw"/>
  </node>

-Jon

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answered 2013-04-10 06:54:57 -0500

konet gravatar image

updated 2013-04-10 07:26:16 -0500

Hey Guys, now I'm trying to run this kinect launch (based on turlebot 3dsensor.launch)

it gets stuck on the last line of the following code:

root@ubuntu:~# roslaunch eddiebot_bringup kinect.launch 
... logging to /home/konet/.ros/log/2e88ae1c-a1fd-11e2-909e-68a3c42c6822/roslaunch-ubuntu-28243.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://ubuntu:36231/

SUMMARY
========

PARAMETERS
 * /camera/depth_registered/rectify_depth/interpolation
 * /camera/depthimage_to_laserscan_loader/output_frame_id
 * /camera/depthimage_to_laserscan_loader/range_min
 * /camera/depthimage_to_laserscan_loader/scan_height
 * /camera/openni_camera_loader/depth_frame_id
 * /camera/openni_camera_loader/depth_mode
 * /camera/openni_camera_loader/depth_registration
 * /camera/openni_camera_loader/depth_time_offset
 * /camera/openni_camera_loader/image_mode
 * /camera/openni_camera_loader/image_time_offset
 * /camera/openni_camera_loader/rgb_frame_id
 * /rosdistro
 * /rosversion

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depthimage_to_laserscan_loader (nodelet/nodelet)
    openni_camera_loader (nodelet/nodelet)
    points_xyzrgb (nodelet/nodelet)
  /camera/depth_registered/
    rectify_depth (nodelet/nodelet)
  /camera/rgb/
    debayer (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [28272]


setting /run_id to 2e88ae1c-a1fd-11e2-909e-68a3c42c6822
process[rosout-1]: started with pid [28285]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [28297]
process[camera/openni_camera_loader-3]: started with pid [28300]
process[camera/rgb/debayer-4]: started with pid [28324]
process[camera/rgb/rectify_mono-5]: started with pid [28349]
process[camera/rgb/rectify_color-6]: started with pid [28405]
process[camera/depth_registered/rectify_depth-7]: started with pid [28449]
process[camera/points_xyzrgb-8]: started with pid [28484]
**process[camera/depthimage_to_laserscan_loader-9]: started with pid [28526]**

it doesn't show any errors but it doesn't start either, it gets stuck there.

EDIT: it seems that the error is not that the process gets "stuck" the error is that this launch file is not related with the kinect hardware... in other words it works with or without the kinect connected to my computer. any suggestions to fix this? any help will be very apreciated.

thank you!

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Asked: 2013-03-17 11:58:58 -0500

Seen: 1,289 times

Last updated: Apr 10 '13