Hi, I'm not able to "roslaunch pi_tracker skeleton.launch"

SUMMARY

PARAMETERS * /use_sim_time * /skeleton_tracker/fixed_frame * /skeleton_tracker/load_filepath * /skeleton_tracker/holonomic * /skeleton_tracker/skel_to_joint_map/right_shoulder * /skeleton_tracker/tracking_rate * /skeleton_tracker/skel_to_joint_map/right_hip * /skeleton_tracker/command_rate * /skeleton_tracker/skel_to_joint_map/left_foot * /skeleton_tracker/skel_to_joint_map/left_elbow * /skeleton_tracker/skel_to_joint_map/right_foot * /skeleton_tracker/use_real_robot * /skeleton_tracker/skel_to_joint_map/right_knee * /skeleton_tracker/skel_to_joint_map/left_shoulder * /skeleton_tracker/scale_drive_speed * /skeleton_tracker/base_controller_rate * /skeleton_tracker/skel_to_joint_map/left_knee * /skeleton_tracker/base_control_side * /rosdistro * /robot_description * /skeleton_tracker/skel_to_joint_map/head * /skeleton_tracker/max_rotation_speed * /rosversion * /skeleton_tracker/skel_to_joint_map/torso * /skeleton_tracker/skel_to_joint_map/right_hand * /skeleton_tracker/skel_to_joint_map/right_elbow * /skeleton_tracker/default_joint_speed * /skeleton_tracker/max_drive_speed * /skeleton_tracker/scale_rotation_speed * /robot_state_publisher/publish_frequency * /skeleton_tracker/reverse_rotation * /skeleton_tracker/skel_to_joint_map/neck * /skeleton_tracker/skel_to_joint_map/left_hand * /skeleton_tracker/joint_controller_rate * /skeleton_tracker/skel_to_joint_map/left_hip

NODES / robot_state_publisher (robot_state_publisher/state_publisher) kinect_base_link (tf/static_transform_publisher) kinect_base_link1 (tf/static_transform_publisher) kinect_base_link2 (tf/static_transform_publisher) kinect_base_link3 (tf/static_transform_publisher) skeleton_tracker (pi_tracker/skeleton_tracker) base_world_broadcaster (tf/static_transform_publisher)

auto-starting new master process[master]: started with pid [28728] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9cae2868-dddc-11e0-9c14-00256438dd8a process[rosout-1]: started with pid [28741] started core service [/rosout] process[robot_state_publisher-2]: started with pid [28748] process[kinect_base_link-3]: started with pid [28750] process[kinect_base_link1-4]: started with pid [28756] process[kinect_base_link2-5]: started with pid [28757] process[kinect_base_link3-6]: started with pid [28760] process[skeleton_tracker-7]: started with pid [28770] process[base_world_broadcaster-8]: started with pid [28776]

[skeleton_tracker-7] process has died [pid 28770, exit code -11]. log files: /home/yuanwei/.ros/log/9cae2868-dddc-11e0-9c14-00256438dd8a/skeleton_tracker-7*.log

Any ideas to solve this? Do I need change anything in the SamplesConfig.xml or skeleton.launch?

I have problems installing openni_kinect stack. I can't install the openni drivers on my system. I meet the following errors in my 'make':

../../../../../Wrappers/OpenNI.jni/methods.inl:314: warning: deprecated conversion from string constant to ‘char’ /bin/sh: javac: not found make[3]: [../../../Bin/Release/org.OpenNI.jar] Error 127 make[2]: [Wrappers/OpenNI.java] Error 2 failed to execute: make PLATFORM=x86 -C ../Build > /home/yuanwei/drivers/openni/build/openni/Platform/Linux-x86/CreateRedist/Output/BuildOpenNI.txt Building Failed! make[1]: [installed] Error 1 make[1]: Leaving directory `/home/yuanwei/drivers/openni' make: * [openni_lib] Error 2

I've installed java sdk but these errors still stay. Any ideas how to solve this?

Hi, I chose the geometry of the <collision> field in the urdf file to be a cylinder. However, when it launches in the Gazebo, the geometry became a box.

For collision geometry, we can't choose spherical or cylindrical shapes in Gazebo yet?

You need to change the fixed frame and target frame to something connected in rviz. See the user guide

Hi Mac, Thanks for your kindness and suggestions. I've managed to resolve the problem. It seems that even though I've followed the java sdk installation instructions from the oracle website, the default java version is always openjdk.

sudo apt-get install python-software-properties sudo add-apt-repository ppa:sun-java-community-team/sun-java6 sudo apt-get update sudo apt-get install sun-java6-jdk

I did the above steps to install the java6-sdk. And the openni-kinect driver builds successfully now!

In rviz, in TF display. I got status: warning "/openni_camera: No transform from [/openni_camera] to frame[/world] /openni_depth_frame: No transform from [/openni_depth_frame to frame[/world]" etc....

The robot model in the rviz has no errors. I've also changed the 'skel_to_joint_map' parameter in the tracker_params.yaml, to correspond with the joint names with my robot urdf model. I also changed the line in the 'self.cmd_joints.position[self.cmd_joints.name.index('myRobot_jointName')] = right_shoulder_lift_angle' in the tracker_joint_controller.py to my robot urdf's joint name. Is there anywhere else I need to change in the code? Thanks a lot!

[ERROR] [1316763642.701371303]: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "/right_shoulder" from authority "/skeleton_tracker" because frame_id not set [ERROR] [1316763642.701422097]: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "/right_elbow" from authority "/skeleton_tracker" because frame_id not set [ERROR] [1316763642.701475147]: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "/right_hand" from authority "/skeleton_tracker" because frame_id not set

Hi, I've tried the pi_tracker package. I have no errors running skeleton.launch and tracker.launch. However, when I rosrun rviz, I met the following errors

It's solved now. I just svn checkout http://pi-robot-ros-pkg.googlecode.com/svn/trunk/pi_tracker. And it just mysteriously worked!

I've also inserted <License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/> in the SampleConfig.xml. But I have the same error [skeleton_tracker-7] process has died [pid 28770, exit code -11]

[roscpp_internal] [2011-09-14 09:00:13,929] [thread 0xb2c14790]: [DEBUG] UDPROS server listening on port [42855] [roscpp_internal] [2011-09-14 09:00:13,933] [thread 0xb2c14790]: [DEBUG] Started node [/skeleton_tracker], pid [882], bound on [yuanwei-desktop], xmlrpc port [45499], tcpros port [33642], logging to [/home/yuanwei/.ros/log/e6c36702-de6c-11e0-9b50-00256438dd8a/skeleton_tracker-7.log], using [real] time [roscpp_internal] [2011-09-14 09:00:14,196] [thread 0xb2c07b70]: [DEBUG] Accepted connection on socket [7], new socket [16] [roscpp_internal] [2011-09-14 09:00:14,197] [thread 0xb2c07b70]: [DEBUG] TCPROS received a connection from [10.217.130.120:33589] [roscpp_internal] [2011-09-14 09:00:14,197] [thread 0xb2c07b70]: [DEBUG] Connection: Creating TransportSubscriberLink for topic [/rosout] connected to [callerid=[/rosout] address=[TCPROS connection to [10.217.130.120:33589 on socket 16]]] Here's the log file but I'm still not sure what's wrong