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PointCloud to LaserScan Kinect

asked 2013-07-22 11:52:22 -0600

salime gravatar image

updated 2016-10-24 09:02:41 -0600

ngrennan gravatar image

I am working with the slam_gmapping, and I have created this launch file, that is mentioned here http://answers.ros.org/question/10606/problem-launching-pointcloud-to-laserscan/, but when I try to run it... this error comes:

[ INFO] [1374529520.364476474]: Initializing nodelet with 8 worker threads.
process[kinect_laser-25]: started with pid [23477]
[ERROR] [1374529520.386493921]: 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 image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image nodelet_topic_tools/NodeletThrottleString nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/TestListener pcl/TestPingPong pcl/TestTalker pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 test_nodelet/ConsoleTest test_nodelet/Plus
[FATAL] [1374529520.386692115]: Service call failed!
[ERROR] [1374529520.400198187]: 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 image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image nodelet_topic_tools/NodeletThrottleString nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/TestListener pcl/TestPingPong pcl/TestTalker pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 test_nodelet/ConsoleTest test_nodelet/Plus
[FATAL] [1374529520.400328595]: Service call failed!
[pointcloud_throttle-24] process has died [pid 23434, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load pointcloud_to_laserscan/CloudThrottle openni_manager cloud_in:=/camera/depth/points cloud_out:=cloud_throttled __name:=pointcloud_throttle __log:=/root/.ros/log/0096b582-f318-11e2-85b3-001d7e0aced1/pointcloud_throttle-24.log].
log file: /root/.ros/log/0096b582-f318-11e2-85b3-001d7e0aced1/pointcloud_throttle-24*.log
[kinect_laser-25] process has died [pid 23477, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load pointcloud_to_laserscan/CloudToScan openni_manager cloud:=cloud_throttled __name:=kinect_laser __log:=/root/.ros/log/0096b582-f318-11e2-85b3-001d7e0aced1/kinect_laser-25.log].
log file: /root/.ros/log/0096b582-f318-11e2-85b3-001d7e0aced1/kinect_laser-25*.log
[ERROR] [1374529520.973861837]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
[ERROR] [1374529520.987485340]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ERROR] [1374529521.000773838]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
[ INFO] [1374529521.770846682]: Number devices connected: 1
[ INFO] [1374529521.771127177]: 1. device on bus 002:10 is a Xbox NUI Camera (2ae) from Microsoft (45e ...
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answered 2013-07-23 16:30:00 -0600

jiemao0125 gravatar image

i have met the same error; and then i find that i haven't install pointcloud_to_laserscan, after install, it success.you can try...

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thanks for the reply, could u tell me how can I install it?

salime gravatar imagesalime ( 2013-07-23 17:12:37 -0600 )edit

You probably just install the package. Use "apt-cache search ros-fuerte" to find the name of the package you need to install. It will probably look like "ros-fuerte-pointcloud-to-laserscan"

Lucile gravatar imageLucile ( 2013-07-23 21:44:05 -0600 )edit

I installed the ros-fuerte-perception-pcl and ros-fuerte-pcl which are the ones most likely similar in name to point cloud, but I keep getting the same result....

salime gravatar imagesalime ( 2013-07-24 07:40:24 -0600 )edit

The pointcloud_to_laserscan is in the turtlebot stack. So, install the turtlebot stack using sudo apt-get install ros-fuerte-turtlebot.

Hemu gravatar imageHemu ( 2013-07-24 11:15:23 -0600 )edit

I do like this; see http://www.ros.org/wiki/pointcloud_to_laserscan; and 1) hg clone http://www.ros.org/wiki/pointcloud_to_laserscan; 2) roscd pointcloud_to_laserscan; rosmake; then can work; hope that help you

jiemao0125 gravatar imagejiemao0125 ( 2013-07-24 18:23:35 -0600 )edit
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answered 2013-07-23 03:57:58 -0600

allenh1 gravatar image

It seems ROS is having trouble running the pointcloud_to_laserscan node. Perhaps you are running Groovy?

If so, you will need to use depthimage_to_laserscan instead.

If you are not running Groovy, please post back so we can try to debug this some more. If you are running Groovy, please post your system information (ROS Version, OS Version/platform, etc.) with your questions in the future. It helps us identify the problem more quickly.

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Thanks for the reply, I am working with ROS Fuerte, Ubuntu 12.04, do I need to use the depthimage_to_laserscan too? Because I saw some posts with that, and I already tried it, but same problem

salime gravatar imagesalime ( 2013-07-23 06:28:59 -0600 )edit

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Asked: 2013-07-22 11:52:22 -0600

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Last updated: Jul 23 '13