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2014-01-28 17:29:34 -0500 marked best answer [Error] nodelet pcl/* crash

Hi,

I've switch to Groovy and we i tried to run my launch file with calls a pcl nodelet, the nodelet crashes.

I tried to load it manualy (command-line) and i'm getting the same error.

I do

$ rosrun nodelet nodelet manager __name:=nodelet_manager

And get

[ INFO] [1360435647.453864706]: Initializing nodelet with 8 worker threads.

all OK.

In another terminal i run:

$ rosrun nodelet nodelet load pcl/PassThrough nodelet_manager ~input:="/camera/depth_registered/points"

and i get:

[ INFO] [1360435704.541942377]: Loading nodelet /pcl_PassThrough of type pcl/PassThrough to manager nodelet_manager with the following remappings:
[ INFO] [1360435704.542172024]: /pcl_PassThrough/input -> /camera/depth_registered/points
[FATAL] [1360435704.550783258]: Service call failed!

and on the 1st terminal (nodelet manager) i get

[ERROR] [1360435704.550185447, 1358879347.082131986]: Failed to load nodelet [/pcl_PassThrough] of type [pcl/PassThrough]: According to the loaded plugin descriptions the class pcl/PassThrough 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_tutorial_math/Plus openni_camera/driver stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2

This happens even without running anything that publish the /camera/depth_registered/points. I can make this happen with just 3 terminals, the roscore and the two i described here.

Also this happens for the Passtrough, VoxelGrid, StatisticalOutlierRemoval

Thanks

2014-01-28 17:29:06 -0500 marked best answer error in image_pipeline

Hi,

Today i tried to get the OpenCV 2.4.3 (With CUDA 5.0) working with ROS Fuerte. After i successful compile the OpenCV and test it i tried to compile a ROS program, but every program i compile (that uses the kinect) gives me this

make[3]: Entering directory '/home/joao/ros_workspace/sandbox/kinect_icp/build'
[ 50%] Building CXX object CMakeFiles/kinect_track.dir/src/GetFeaturePoints.o
[100%] Building CXX object CMakeFiles/kinect_track.dir/src/kinect_track.o
Linking CXX executable ../bin/kinect_track
/opt/ros/fuerte/stacks/image_pipeline/depth_image_proc/lib/libdepth_image_proc.so:     error: undefined reference to 'boost::signals::connection::~connection()'
/opt/ros/fuerte/stacks/image_pipeline/depth_image_proc/lib/libdepth_image_proc.so: error: undefined reference to 'boost::signals::connection::operator=(boost::signals::connection const&)'
collect2: ld returned 1 exit status
make[3]: *** [../bin/kinect_track] Error 1
make[3]: Leaving directory '/home/joao/ros_workspace/sandbox/kinect_icp/build'
make[2]: *** [CMakeFiles/kinect_track.dir/all] Error 2
make[2]: Leaving directory '/home/joao/ros_workspace/sandbox/kinect_icp/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory '/home/joao/ros_workspace/sandbox/kinect_icp/build'
-------------------------------------------------------------------------------}

This is with and without using the Opencv. I also uninstall the Opencv 2.4.3, restart the pc and noting. I still get the same error...

Did i mess up with ROS or there was an update (that i didn't notice) that broke this?

How can i solve this?

Thanks

Edit:

I re-install every thing (even linux) and its the same thing. On a fresh install its every thing OK. This time i installed CUDA 4.2 and PCL 1.7 (ros version) and now this happens again. So i'm inclined to say its a problem related to CUDA (the common thing between the two "experiences") I installed CUDA according to https://help.ubuntu.com/community/Cuda

2014-01-28 17:28:25 -0500 marked best answer Pcl error in stl container

Hi,

I'm using ROS fuerte with Ubuntu 11.10 and i'm having a problem with pcl. I'm geting a PointCloud from the kinect and later on the program i'm putting that in a std::deque.

But sometimes this gives me an error.

kinect_track: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float, int Size = 4, int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
    Aborted

Acording to the that page the problem is that the deque(PointCloud) must be aligned according to the eigen files. The PCL 1.5.1 in the file point_types.cpp shows that the PointXYZRGB is aligned

struct EIGEN_ALIGN16 _PointXYZRGB
00351   {
00352     PCL_ADD_POINT4D; // This adds the members x,y,z which can also be accessed using the point (which is float[4])
00353     union
00354     {
00355       union
00356       {
00357         struct
00358         {
00359           uint8_t b;
00360           uint8_t g;
00361           uint8_t r;
00362           uint8_t _unused;
00363         };
00364         float rgb;
00365       };
00366       uint32_t rgba;
00367     };
00368 
00369     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00370   };

but the PCL 1.5 that comes with ROS on the same file (but .h) have (line 299):

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZRGB,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, rgb, rgb)
)

only and no

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

anywhere in the file.

this is my code:

typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
namespace enc = sensor_msgs::image_encodings;

using namespace cv;
using namespace std;

deque(PointCloud) PC;

(and later)

void GetFeaturePoints::NewImage(const PointCloud::ConstPtr& msg){
....
PC.push_back(*msg);
}

Can i do anything to this?

it's the same error as http://answers.ros.org/question/10040/hand_interaction-unaligned-array-assertion/ (this)

thanks

2014-01-28 17:25:06 -0500 marked best answer ROS Electric Opencv transition

Hi there,

I've install the electric version, and after made a program with vision-opencv, cv-bridge and opencv2 based on a example program from vision_opencv/cv_bridge after that i discover that opencv2 is deprecated, so i want to make the change to keep the program working.

The problem is that i dind't understand the instructions on here.

I've put on the CMakeLists.txt this:

find_package(OpenCV REQUIRED)

rosbuild_add_executable(kinect_show src/kinect_show.cpp)
#define some target ...
target_link_libraries(kinect_show ${OpenCV_LIBS})

and at my cpp file i still have:

#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

i did noting in the vision_opencv package. I also see that on /usr/include/opencv-2.3.1/opencv i have the following files:

cvaux.h    cv.h    cvwimage.h  cxcore.hpp   cxmisc.h   ml.h
cvaux.hpp  cv.hpp  cxcore.h    cxeigen.hpp  highgui.h

It doesn't seem ok. for instance the file imgprog.hpp is missing...

what do i do to make ros use the system dependency opencv?

Thanks!

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2013-09-04 10:02:56 -0500 answered a question Hardware Requirements for Camera and sensor

it depends on the cameras and your speed limit. but if the images are 640x480 and you don't do anything crazy you can achieve real-time with that setup.

2013-08-22 13:13:12 -0500 commented question openni registration fails

What version off Mint? There is a bug with the 32 bits version of ubuntu that makes this error, as soon as you enable the registration the point cloud is full of NaNs. Also check this: http://answers.ros.org/question/53706/registered-depth-image-is-black/?answer=74272#post-id-74272

2013-07-22 06:54:25 -0500 commented question Strange distortion in rectified image (stereo_image_proc)

yes, i would start from there. Do this tutorial and check the output of the camera. http://www.ros.org/wiki/camera_calibr... if its ok go to the stereo calibration.

Also, if i understood you are using a enclosure. It could be the culprit on the distortion

2013-07-18 09:15:02 -0500 commented question Strange distortion in rectified image (stereo_image_proc)

What did you do to get to that point? You should calibrate each camera (intrinsics) first, and then do the calibration between cameras (extrisinc)

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2013-07-02 16:20:00 -0500 commented question compiling error with: ROS Fuerte + pcl

what are your includes?

2013-07-02 16:10:16 -0500 answered a question Openni for groovy version

Just install the openni_launch and the openni_camera

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2013-06-27 16:48:16 -0500 asked a question pcl 1.7 install on groovy

Hey,

I'm trying to install the pcl1.7 from https://github.com/ros-perception/perception_pcl.git (the groovy-unstable-devel) in ubuntu 12.04 64 bits with ROS Groovy.

I has still using the rosbuild system, but it appears that the pcl git is allready made for catkin. So i created a catkin workspace as the the tutorial, clone the git to the src dir, and making catkin_make i get this:

Base path: /home/joao/catkin_ws
Source space: /home/joao/catkin_ws/src
Build space: /home/joao/catkin_ws/build
Devel space: /home/joao/catkin_ws/devel
Install space: /home/joao/catkin_ws/install
####
#### Running command: "cmake /home/joao/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/joao/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/joao/catkin_ws/install" in "/home/joao/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/joao/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/joao/catkin_ws/devel;/opt/ros/groovy
-- This workspace overlays: /home/joao/catkin_ws/devel;/opt/ros/groovy
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using CATKIN_TEST_RESULTS_DIR: /home/joao/catkin_ws/build/test_results
-- catkin 0.5.65
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - pcl (plain cmake)
-- ~~  - pcl_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkin_workspace.cmake:88 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.
Call Stack (most recent call first):
  CMakeLists.txt:48 (catkin_workspace)


-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

What should i do? I've read the tutorials and it didn't give me a answer.

Thanks

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2013-05-29 07:22:07 -0500 answered a question How can I add one pcl Pointcloud_xyzrgb to another?

Are you populating the header on the pointclouds? for debug proposes you can use the pcl viewer with booth PointClounds(with diferent colors for example)

2013-05-26 02:43:40 -0500 commented question Kinect extrinsic calibration (between depth and built-in cameras)

strange. Yes, the Contrast Augmentor is only for IR. This packaged seams dead and without a substitute. I tried to use it on groovy (compiled from the source) and there is a error with cv_bridge on a conversion.

2013-05-23 03:23:35 -0500 commented question Openni registration problem

My "solution" was to switch to a 64bits ubuntu.

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2013-05-23 01:57:51 -0500 commented question Kinect extrinsic calibration (between depth and built-in cameras)

on both RGB and IR? What version of ROS are you using?

2013-05-19 08:06:20 -0500 answered a question Kinect extrinsic calibration (between depth and built-in cameras)

Try using this: contrast-augmenter

The theory is that there is a bug somewhere on the image pipeline (there was a topic explaining that), if i'm not mistaken the imageshow is using the 8 LSB and the checkerboard is using the 8 MSB, so you need to shift the bits to transform the LSB in MSB. The node that i liked does that for you.

Don't forget to make that the new input to the camera calibration program

2013-05-09 23:39:48 -0500 answered a question how to run surfgpu on opencv with ros?

As far as i know, the OpenCV that cames with ROS doesn't have the GPU module. So the first step is to install that and make sure you are linking against the new OpenCV and not the ROS one.

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2013-04-15 05:39:21 -0500 answered a question registered depth image is black

This is likely a bug on the implementation, i'v open a issue ticket on github, and i sugest that if you have the same problem to do the same (in my ticket or in another).

Here it is: https://github.com/ros-drivers/openni_camera/issues/13

2013-04-15 05:34:24 -0500 commented question Invalid point cloud from Kinect by using openni_camera

Its probabliy a bug on openNi by ros. If you search here you find multiple people with the same problem. I recomend to put a issue ticket on the github for openni, like this one (or add to this) : https://github.com/ros-drivers/openni_camera/issues/13

2013-04-15 05:01:44 -0500 commented question Openni registration problem

If you have this problem please say it on the github page. here is my issue ticket: https://github.com/ros-drivers/openni_camera/issues/13

They didn't seem to find that important (it seams they didn't even read thing right), maybe if more users put the same issue...

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2013-03-28 16:28:28 -0500 commented question Openni registration problem

I also think it is hardware dependent. working on my room there is another studend with a different pc and everything works fine (just by instaling openni-camera and launch). For me the strange thing is that the OpenNi binaries works flawless on every pc, but the ROS (and PCL?) library doesn't

2013-03-28 06:17:56 -0500 asked a question Openni registration problem

Hi,

I'm having a problem with the openni registration on a kinect. As many people around here when i enable the depth_registration option i only receive NaN's. This is on a fresh install of booth ubuntu 12.04 and ros groovy from yesterday. I allready tried to follow this "tutorial" here and here because it's the same problem, but i still can't get the thing to work, and running the OpenNi samples every thing is great.

This is a problem that exists for a long time and no solution yet... It's very annoying because i need it for my thesis

What can i try to solve this?

Thanks

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2013-03-11 01:44:13 -0500 commented answer Cannot launch openni_camera: No devices connected (ROS electric)

I'm also getting this error on fuerte and ubuntu 12.04 32bits ( i install the 32bits NITE)