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2014-01-28 17:25:23 -0500 marked best answer Error while loading nodelet [/normal_estimation]

Hi! I'm using ROS Fuerte Beta 1 on Ubuntu 11.10. I tried to compile pcl_ros nodelets. There were some errors related to old PCL library API, I fixed them. When I try roslaunch Package node.launch I receive next error:

[ERROR] [1334687385.411350875]: Failed to load nodelet [/normal_estimation] of type [pcl/NormalEstimation]: Failed to load library /home/crady/ros/perception_pcl/pcl_ros/lib/ Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Cannot load library: /home/crady/ros/perception_pcl/pcl_ros/lib/ undefined symbol: _ZN3pcl18BoundaryEstimationINS_8PointXYZENS_6NormalENS_8BoundaryEE14computeFeatureERNS_10PointCloudIS3_EE
[FATAL] [1334687385.412377822]: Service call failed!

So, seems that pcl::BoundryEstimation<pointxyz, normal,="" boundry="">::computeFeature(PointCloud) is missing. Where may be problem?

2014-01-28 17:25:17 -0500 marked best answer Separating callback from other modules


May I want something strange, but it interesting programming problem. So, I wrote class-wrapper Sensor that subscribes on topic (like /camera/image) and in callback receives data (like this->callback(Image& data), node.subscribe(..., &Sensor::callback). Data should be prepared by some filters. At this moment, filters called in callback:

void Sensor::callback(Image& data)
Image* newData;
newData = filter1(data);
newData = filter2(newData);

But I think it is not good. Is there way to separate them from Sensor? Something like this:

data = Sensor.getData();
data = filter1(data);
data = filter2(data);

I think that I missed simple idea of this.

2014-01-28 17:25:15 -0500 marked best answer How to share some patches?


I tried to use some packages with new Fuerte Beta 1, but in some reasons they did not work. I fixed this problems and made patches. What is appropriate way to share them? Some packages seems to be abandoned.

2014-01-28 17:25:13 -0500 marked best answer Broken dependencies in Fuerte

Hi! I installed ros-fuerte-desktop-full beta yesterday using this manual. I'm using Ubuntu 11.10. Everything seems to be good, but when I try to compile my old project, I receive next messages.

manifest.xml contains next:

  <description brief="RobotVision">


  <review status="unreviewed" notes=""/>
  <depend package="pcl"/>
  <depend package="pcl_ros"/>
  <depend package="roscpp"/>
  <depend package="sensor_msgs"/>
  <depend package="vosch"/>

What is wrong? I'm missing something? Project created and works on electric.

2014-01-28 17:23:34 -0500 marked best answer Unmet dependencies with unstable-desktop-full, Natty

Hi! I try to install ros-unstable-desktop-full on Natty 11.04, but I have next problem:

~$ sudo apt-get install ros-unstable-desktop-full
The following packages have unmet dependencies:
 ros-unstable-desktop-full : Depends: ros-unstable-vision-opencv (= 1.6.1-s1313731650~natty) but it is not going to be installed
                             Depends: ros-unstable-image-pipeline (= 1.5.2-s1313739013~natty) but it is not going to be installed
                             Depends: ros-unstable-image-transport-plugins (= 1.4.1-s1313731752~natty) but it is not going to be installed
E: Broken packages
~$ sudo apt-get install ros-unstable-vision-opencv
The following packages have unmet dependencies:
 ros-unstable-vision-opencv : Depends: libopencv2.3-dev (= 2.3.1+svn6514+branch23-1~natty) but it is not going to be installed
E: Broken packages

There was ros-electric previously, but I removed it completely. How can I fix this problem? Thanks in advance!

2014-01-28 17:23:18 -0500 marked best answer How to update perception_pcl?

Hi! I have ROS Electric binary install on Ubuntu 11.04. Today I need in last version of PCL 1.3 ( - this one). How should I update current stack?

I need some clarification. I have Makefile and CMakeLists.txt in /opt/ros/electric/stacks/perception_pcl. They contains only some includes. Next, I go to ./pcl directory. There is Makefile, that contains next:

TARBALL = build/pcl-1.1.2.tar.gz
SOURCE_DIR = build/pcl
UNPACK_CMD = tar xzf
include $(shell rospack find mk)/

#SVN_DIR = build/pcl_trunk                                                      
## Developers, please use this URL:                                             
#SVN_URL =                                
##SVN_PATCH =                                                                   
#include $(shell rospack find mk)/

So, when I uncomment SVN-related lines, comment tarball lines and try sudo make, I receive next:

Makefile:14: / No such file or directory make: * No rule to make target/'. Stop.` (that's obvious, there is no such file). Where I'm wrong?

Thanks for help!

2014-01-28 17:23:13 -0500 marked best answer OpenCV, drawing depth map

Hi! I have a little project on C++.

In this project, I I try to find sample image on depth map, received from Kinect. I check results by drawing both images (sample and current scene) in 1 window. Keypoints linked with lines after it. But I can't see current scene in window. Where can be problem? Something wrong in src/Classifier.cpp, method void Detector::findObject(cv::Mat scene). And one more question - what method should I use to copy data from one cv::Mat to other? I use cvtColor for this. I think, that class method copyTo() should do same work, but it doesn't. Thanks for help!

Here project -

2014-01-28 17:23:02 -0500 marked best answer Callback never called on c++

Hi! I have a little project on C++. When it was very simple (take frame from Kinect, convert to cv::Mat and show it in window), everything works well. Some days ago I add classificator and after it, in some reasons, callback never calls, as I understand. I can't get, why it so, because of code not changed in general. Can somebody helps me with it? Thanks!

Here link to archive -

2014-01-28 17:22:58 -0500 marked best answer Undefined reference on Ubuntu 11.04

Hello! I have simple subscriber project, but there some problems. I'm using Ubuntu 11.04 2.6.38-11-generic, gcc version 4.5.2 (Ubuntu/Linaro 4.5.2-8ubuntu4), GNU ld (GNU Binutils for Ubuntu) and GNU Make 3.81. I have

  1. /project/include/DepthListener.h,
  2. /project/src/DepthListener.cpp,
  3. /project/src/depthConverter.cpp.

When I try to make project, I receive next errors:

CMakeFiles/depthListener.dir/src/depthListener.o: In function `main':
/ros/depthListen/src/depthListener.cpp:6: undefined reference to `DepthConverter::DepthConverter()'
/ros/depthListen/src/depthListener.cpp:6: undefined reference to `DepthConverter::~DepthConverter()'
/ros/depthListen/src/depthListener.cpp:6: undefined reference to `DepthConverter::~DepthConverter()'
collect2: ld returned 1 exit status

As I undestand, make does not see DepthListener.cpp file and problem somewhere in CMakeLists.txt.

There are all files:

  1. DepthConverter.h

  2. CMakeLists.txt

  3. DepthConverter.cpp

  4. depthListener

Thanks for help!

2014-01-28 17:22:45 -0500 marked best answer Creating depth generator failed. Fedora, Kinect.

I'm trying run Kinect with OpenNI drivers on Fedora 15 and ROS Diamondback. So, using tutorial ( this one ), I compile drivers without errors:

rosmake openni_camera

Next, I export this parameters:


But, when I try to launch Kinect, I got next messages:

[ WARN] [1315135571.124613017]: The input topic '/camera/rgb/image_mono' is not yet advertised
[ WARN] [1315135571.125195980]: The input topic '/camera/rgb/camera_info' is not yet advertised
[ WARN] [1315135572.505867242]: The input topic '/camera/depth_registered/image_raw' is not yet advertised
[ WARN] [1315135572.687120215]: The input topic '/camera/rgb/image_color' is not yet advertised
[ WARN] [1315135572.687495681]: The input topic '/camera/rgb/camera_info' is not yet advertised

[ INFO] [1315135574.007773568]: Number devices connected: 1
[ INFO] [1315135574.008287528]: 1. device on bus 002:15 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00365921222043A'
[ INFO] [1315135574.010913481]: Searching for device with index = 1
[ INFO] [1315135574.071555280]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /home/crady/openni_kinect/openni_kinect/openni_camera/src/openni_device.cpp @ 61 : creating depth generator failed. Reason: The network connection has been closed!

During this, process XnSensorServer is active. Thanks for any help!

2014-01-28 17:22:45 -0500 marked best answer No /camera/rgb/points, Natty

Hi! I install ROS-electric on fresh Natty(2.6.38-11-generic) with updates using this tutorial. Next, I try to launch openni_camera with this sample. Everything is normal, but in rviz there is no /camera/rgb/points topic. Where can be problem? So, there are some details:

  1. Logs from roslaunch openni_launch openni.launch -
  2. rviz's sreenshot -
    Thanks for help!
2014-01-28 17:22:44 -0500 marked best answer Diamondback, rosmake openni_kinect On fedora 15

Hello! I try to compile openni_kinect drivers with GCC 4.6, but have next problem:

/home/crady/ros/perception_pcl/pcl/include/pcl/ros/conversions.h: In function ‘void pcl::toROSMsg(const CloudT&, sensor_msgs::Image&) [with CloudT = pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image = sensor_msgs::Image_<std::allocator<void> >]’:
  /home/crady/ros/perception_pcl/pcl_ros/src/tools/convert_pcd_to_image.cpp:75:32:   instantiated from here
  /home/crady/ros/perception_pcl/pcl/include/pcl/ros/conversions.h:285:9: error: taking address of temporary [-fpermissive]

As I understand, I should add [-fpermissive] flag to some CMake file, to change error status to warning. But I can't find appropriate files. Can anybody help with this? This flag actual for GCC 4.6, but can't downgrade to, for example, GCC 4.5. Thanks for help!

2014-01-22 07:34:33 -0500 marked best answer Appropriate way to store data


I should to store a lot of different data and history of measurements in some storage (data from MS Kinect, ultrasonic sensor, odometry and, for example, data from infrared sensor. Sensors may be used in very different ways, not only for navigation). I wonder, is there some convenient and native way to do this in ROS? May be somebody can share commentaries about ? Or I should to use common DB like MariaDB?

Thanks in advance.

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