Robin's profile - activity

Hi all,

I'm running ROS electric on a 24-core machine and having some issues with pthread under specific conditions. I use a class named ObjectTracker to handle ROS callbacks and sometimes use pthread to run some code in parallel without a problem. However, ObjectTracker includes instances of another class called Model, and Model includes functions that use pthread, as well. When Model tries to use pthread, the code usually crashes. I've tried using spin, multithreadspinner, and asyncspinner in ObjectTracker, and I still get the crashes. I'm also not trying to use more than 24 cores when it crashes. Even if I'm only trying to use on thread, but as long as it's created with pthread within Model and not ObjectTracker, it's a problem. Here's the specific code that is problematic:

// create threads
pthread_attr_t attr;
int rc;
void* status;

int count_thread = 0;
while(count_thread<num_threads)
{
    pthread_attr_init(&attr);
    pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
    for(int i=count_thread;i<min(count_thread+simultaneous_threads,num_threads);i++)
    {
        pthread_create(&threads[i], &attr, thread_align_cloud_init, (void *) &aligndata[i]);
    }

    // wait for the threads to execute
    pthread_attr_destroy(&attr);
    for(int i=count_thread;i<min(count_thread+simultaneous_threads,num_threads);i++)
        rc = pthread_join(threads[i], &status);

    count_thread+=simultaneous_threads;
}

Any help would be appreciated!!

Hi all,

I'm having trouble running rviz. I first start roscore in a terminal window, then open another terminal and execute 'rosrun rviz rviz.' The loading screen shows up, but the actual program interface never appears. No errors are reported. And if I run 'top' in another terminal, it looks like rviz is actually running, but it's just not visible. \

I should probably mention that I used to have cturtle and diamondback installed and I recently removed cturtle. I'm also running ubuntu 11.04.

Any help would be appreciated!

~Robin

Hi all,

I'm having trouble compiling my ROS code with the Intel compiler, whereas it compiled fine before with gcc. These are the errors:

/opt/ros/diamondback/stacks/perception_pcl/pcl/include/pcl/point_cloud.h(195): error: argument list for class template "pcl::PointCloud" is missing friend boost::shared_ptr<msgfieldmap>& detail::getMapping<pointt>(PointCloud& p);

and

/opt/ros/diamondback/stacks/perception_pcl/pcl/include/pcl/point_cloud.h(195): error: declaration is incompatible with function template "boost::shared_ptr<pcl::msgfieldmap> &pcl::detail::getMapping(pcl::PointCloud<pointt> &)" (declared at line 204) friend boost::shared_ptr<msgfieldmap>& detail::getMapping<pointt>(PointCloud& p); ^ detected during instantiation of class "pcl::PointCloud<pointt> [with PointT=rgbd::pt]" at line 64 of "/home/rheld/Documents/Code/kinect/rgbd/branches/pcl/rgbd-ros-pkg/kinect_tracker/include/Model.h"

I believe these are the lines of code in question from Model.h:

typedef rgbd::pt PointT;

void loadTextCloud(char* fname, pcl::PointCloud<pointt> &cloud);

struct AlignData { pcl::PointCloud<pointt> curr_cloud; (THIS IS LINE 64) pcl::PointCloud<pointt> cloud; vector<float> err_vector; int num_outliers; Eigen::Transform3f xform; Eigen::Transform3f temp_pose; };

Any help would be appreciated!

Hi all,

I'd like to use glc ( http://www.ros.org/wiki/RecordingOpen... ) to capture video from an OpenGL window from within a ROS package. There are instructions for running glc separately from the terminal, but I'd like to integrate it into my code. Has anyone done this? Are there any examples out there? Just wondering whether it's feasible, or if I should go the glReadPixels route.

Thanks ~Robin

Hi,

I'd like to rebuild the opencv2 package with ffmpeg turned on (default is off). I used roscd to switch to opencv2 and sudo-edited the Makefile to turn the ffmpeg flag on. But now I don't know how to recompile the package. I tried renaming ROS_NOBUILD, but then rosmake gives me error about not having permission to rm several files.

Any suggestions on how to recompile?

~Robin

Hi,

I'm trying to install the camera1394 package and I keep getting an error after running 'rosmake camer1394.' I've pasted it here:

  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp: In member function ‘void Format7::setOperationalParameters(sensor_msgs::CameraInfo&)’:
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:440: error: ‘struct sensor_msgs::CameraInfo_<std::allocator<void> >’ has no member named ‘binning_x’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:441: error: ‘struct sensor_msgs::CameraInfo_<std::allocator<void> >’ has no member named ‘binning_y’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:445: error: ‘struct sensor_msgs::RegionOfInterest_<std::allocator<void> >’ has no member named ‘do_rectify’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:459: error: ‘struct sensor_msgs::RegionOfInterest_<std::allocator<void> >’ has no member named ‘do_rectify’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:469: error: ‘struct sensor_msgs::RegionOfInterest_<std::allocator<void> >’ has no member named ‘do_rectify’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp: In member function ‘void Format7::setOperationalParameters(sensor_msgs::CameraInfo&)’:
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:440: error: ‘struct sensor_msgs::CameraInfo_<std::allocator<void> >’ has no member named ‘binning_x’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:441: error: ‘struct sensor_msgs::CameraInfo_<std::allocator<void> >’ has no member named ‘binning_y’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:445: error: ‘struct sensor_msgs::RegionOfInterest_<std::allocator<void> >’ has no member named ‘do_rectify’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:459: error: ‘struct sensor_msgs::RegionOfInterest_<std::allocator<void> >’ has no member named ‘do_rectify’
  /home/rheld/ros/stacks/camera1394/src/nodes/format7.cpp:469: error: ‘struct sensor_msgs::RegionOfInterest_<std::allocator<void> >’ has no member named ‘do_rectify’

I just ran 'svn up' in the camera1394 directory to make sure I'm using the latest version. I still get the error above. Any tips?

Hi all,

I saw on the page http://www.ros.org/wiki/rosbuild how edit a package's makefile to use the Intel C/C++ compiler. Is it possible to build the entirety of diamondback using that compiler?

Thanks! ~Robin

Hi all,

I'm running Ubuntu on a 12-core machine. I was wondering whether there's any sort of automatic multi-threading support built into ROS. For instance, if I'm running two packages at the same time, will they be executed on different threads? If it's not automatic, is there a parameter I can set to enable it?

Thanks