Leandro's profile - activity

Anyway, I installed the package using sudo apt-get install ros-indigo-ar-track-alvar. Since it worked once for me, I don't think that's the problem, but I see there's also a catkin_package for it.

Cannot find ar_track_alvar-1*.log. In the specified folder, I only have camera, roslaunch and rosout logs. I noticed sometimes the following error when running the script:*** Error in /opt/ros/indigo/lib/ar_track_alvar/individualMarkersNoKinect: corrupted double-linked list: 0x0000000000c97180 ***

Yes, I know. I'm using just the rgb camera of Kinect. If I'm not wrong, I would use the individualMarkers if I use the PointCloud data.

Hello everyone,

I'm trying to use ar_track_alvar with the kinect to recognize some block tags. I'm not so experienced with ROS or the package and need to use it for my final project. Can anyone help me?

I'm using ROS Indigo, Openni and my launch file is as follows:

<launch>
<arg name="marker_size" default="5.0" />
<arg name="max_new_marker_error" default="0.08" />
<arg name="max_track_error" default="0.2" />

<arg name="cam_image_topic" default="/camera/rgb/image_color" />
<arg name="cam_info_topic" default="/camera/rgb/camera_info" /> 
<arg name="output_frame" default="/camera_link" />

<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" />
</launch>

After I launch it, sometimes the script works, sometimes it crashes. However, when it do work, it only recognize one tag at a time. If I try to use two tags at the same time, it crashes with the following error:

roslaunch ar_track_alvar pr2_indiv_no_kinect.launch 
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Leandro-PC:51266/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /
    ar_track_alvar (ar_track_alvar/individualMarkersNoKinect)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[ar_track_alvar-1]: started with pid [22224]

[ INFO] [1441994119.349178382]: Subscribing to info topic
[ INFO] [1441994119.409040371]: AR tracker reconfigured: ENABLED 10.00 5.00 0.08 0.20
[ INFO] [1441994120.465086322]: Subscribing to image topic

[ar_track_alvar-1] process has died [pid 22224, exit code -11, cmd /opt/ros/indigo/lib/ar_track_alvar/individualMarkersNoKinect 5.0 0.08 0.2 /camera/rgb/image_color /camera/rgb/camera_info /camera_link __name:=ar_track_alvar __log:=/home/leandrosavieira/.ros/log/88bc1046-58ac-11e5-b869-a41731fbdba7/ar_track_alvar-1.log].
log file: /home/leandrosavieira/.ros/log/88bc1046-58ac-11e5-b869-a41731fbdba7/ar_track_alvar-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Does anyone know why it happens? I could make it work once but than it never worked again. I already tryed reinstalling everything, but I still get the same error.

Thanks in advance.

Thanks for your help! I coudn't make pr2_indiv.launch work but pr2_indiv_no_kinect.launch is running normally thanks to you.

Tanmay, thanks again for your answer. I searched in the internet and found usb_cam, I think I will use this one. So, I need to specify this driver in the file above and then specify in usb_cam that I'm using a kinect? I will also take a look in ar_track_alvar.

Tanmany, thanks for you answer. Sorry, I didn't saw that some parts of the message were in Portuguese, I fixed that. Do you know any good ros book to name? How could I know if a package needs a catkin_workspace or a indigo_workspace? I'm a newbie using ros, so I don't really understand it.

Hello everyone,

I'm using ROS Indigo in Ubuntu 14.04.

I need to use a Kinect camera to identify some tags using the ar_pose package. Does anyone know what I have to change in the package to make it work with Kinect?

The raw ar_pose_multi.launch file is show below. It uses the uvc_camera package that it no longer maintained. Therefore, as I want to use the Kinect, I think should change it for openni_launch package, but it does not work as I want because I need to change something more that I don't really know what.

Can anyone help me?

<launch>
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ar_pose)/launch/live_multi.rviz"/>

  <node pkg="tf" type="static_transform_publisher" name="world_to_cam" args="0 0 0.5 -1.57 0 -1.57 world camera 1"/>

  <node ns="camera" pkg="image_proc" type="image_proc" name="image_proc"/>

  <node ns="camera" pkg="uvc_camera" type="camera_node" name="uvc_camera" output="screen">
    <param name="width" type="int" value="320" />
    <param name="height" type="int" value="240" />
    <param name="fps" type="int" value="30" />
    <param name="frame" type="string" value="camera" />
    <param name="device" type="string" value="/dev/video1" />
    <param name="camera_info_url" type="string" value="file://$(find uvc_camera)/camera_calibration.yaml" />
  </node>

  <node name="ar_pose" pkg="ar_pose" type="ar_multi" respawn="false" output="screen">
    <param name="marker_pattern_list" type="string" value="$(find ar_pose)/data/object_4x4"/>
    <param name="threshold" type="int" value="100"/>
  </node>
</launch>

Hello everyone,

Can anyone tell me if the package ar_tools is compatible with ROS Indigo? I'm trying to build it in my catkin workspace but I'm experiencing some problems.

I'm using ROS Indigo on a Ubuntu 14.04 x64 machine.

Hello everyone,

I need to read some tags using the kinect. However, even after I installed the dependencies and built the package (commands rosdep install ar_pose -i and rosmake ar_pose), when I try to launch the test:

roslaunch ar_pose ar_pose_single.launch

I receive the following error:

ERROR: cannot launch node of type [ar_pose/ar_single]: can't locate node [ar_single] in package [ar_pose]

I cloned the package from ar_tools and built in my catkin workspace. Can anyone help me? I'm working with ROS Indigo on Ubuntu 14.04.

EDIT1:

Dan, thanks again for your help. I already tried that with no success, I still get the same error when I try to catkin_make. I even erased my build and devel folders to build up my workspace again.

EDIT2:

Dan,

Thanks for your answer. However, I'm still experiencing a problem. When I try to catkin_make install I receive the following error:

Do you know what could be the problem?

Linking CXX executable /home/leandrosavieira/catkin_ws/devel/lib/ar_pose/ar_multi
Linking CXX executable /home/leandrosavieira/catkin_ws/devel/lib/ar_pose/ar_single
CMakeFiles/ar_single.dir/src/ar_single.cpp.o: na função `ar_pose::ARSinglePublisher::getTransformationCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
ar_single.cpp:(.text+0x318d): referência indefinida para `_IplImage::_IplImage(cv::Mat const&)'
CMakeFiles/ar_multi.dir/src/ar_multi.cpp.o: na função `ar_pose::ARMultiPublisher::getTransformationCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
ar_multi.cpp:(.text+0x2569): referência indefinida para `_IplImage::_IplImage(cv::Mat const&)'
collect2: error: ld returned 1 exit status
collect2: error: ld returned 1 exit status
make[2]: ** [/home/leandrosavieira/catkin_ws/devel/lib/ar_pose/ar_single] Erro 1make[2]: 
** [/home/leandrosavieira/catkin_ws/devel/lib/ar_pose/ar_multi] Erro 1
make[1]: ** [ar_tools/ar_pose/CMakeFiles/ar_multi.dir/all] Erro 2
make[1]: ** Esperando que outros processos terminem.
make[1]: ** [ar_tools/ar_pose/CMakeFiles/ar_single.dir/all] Erro 2
make: ** [all] Erro 2
Invoking "make install -j4 -l4" failed

EDIT 3:

I tryed what Dan said but I already had libopencv-dev installed in my computer. Therefore, I'm still with the same problem. However, I never used Opencv before so I don't really know if I have to have anything else installed. Do I need to install it from here.

EDIT 4:

I think I got it right now after building vision_opencv in the catkin_workspace. Opencv was missing in my computer even though I had it in the share folder. It now compiles with no errors. Thanks for all the help Dan and Procópio.

Dan, thanks again for your help. Next time I post something I will make sure I update my question. I already tried that with no sucess, I still get the same error when I try to catkin_make. I even erased my build and devel folders to build up my workspace again.

Dan,

Thanks for your answer. However, I'm still experiencing a problem. When I try to catkin_make install I receive the following error:

Do you know what could be the problem?

Base path: /home/leandrosavieira/catkin_ws
Source space: /home/leandrosavieira/catkin_ws/src
Build space: /home/leandrosavieira/catkin_ws/build
Devel space: /home/leandrosavieira/catkin_ws/devel
Install space: /home/leandrosavieira/catkin_ws/install
####
#### Running command: "cmake /home/leandrosavieira/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/leandrosavieira/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/leandrosavieira/catkin_ws/install -G Unix Makefiles" in "/home/leandrosavieira/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/leandrosavieira/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/leandrosavieira/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/leandrosavieira/catkin_ws/devel;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/leandrosavieira/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.11
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 3 packages in topological order:
-- ~~  - ar_tools (metapackage)
-- ~~  - artoolkit
-- ~~  - ar_pose
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'ar_tools'
-- ==> add_subdirectory(ar_tools/ar_tools)
-- +++ processing catkin package: 'artoolkit'
-- ==> add_subdirectory(ar_tools/artoolkit)
-- +++ processing catkin package: 'ar_pose'
-- ==> add_subdirectory(ar_tools/ar_pose)
-- Using these message generators: gencpp;genlisp;genpy
-- ar_pose: 2 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/leandrosavieira/catkin_ws/build
####
#### Running command: "make install -j4 -l4" in "/home/leandrosavieira/catkin_ws/build"
####
[  0%] Built target geometry_msgs_generate_messages_cpp
[ 42%] Built target ARToolkit
[ 42%] Built target geometry_msgs_generate_messages_py
[ 42%] Built target geometry_msgs_generate_messages_lisp
[ 42%] [ 42%] [ 42%] Built target _ar_pose_generate_messages_check_deps_ARMarkers
Built target _ar_pose_generate_messages_check_deps_ARMarker
Built target ARToolkit_catkin
[ 68%] [ 68%] Built target ar_pose_generate_messages_cpp
Built target ar_pose_generate_messages_py
[ 78%] Built target ar_pose_generate_messages_lisp
[ 78%] Built target ar_pose_generate_messages
Linking CXX executable /home/leandrosavieira/catkin_ws/devel/lib/ar_pose/ar_multi
Linking CXX executable /home/leandrosavieira/catkin_ws/devel/lib/ar_pose/ar_single
CMakeFiles/ar_single.dir/src/ar_single.cpp.o: na função `ar_pose::ARSinglePublisher::getTransformationCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
ar_single.cpp:(.text+0x318d): referência indefinida para `_IplImage::_IplImage(cv::Mat const&)'
CMakeFiles/ar_multi.dir/src/ar_multi.cpp.o: na função `ar_pose::ARMultiPublisher::getTransformationCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
ar_multi.cpp:(.text+0x2569): referência indefinida para `_IplImage::_IplImage(cv::Mat const&)'
collect2: error: ld returned 1 exit status
collect2: error: ld returned 1 exit status
make[2]: ** [/home/leandrosavieira/catkin_ws/devel/lib/ar_pose/ar_single] Erro 1make[2]: 
** [/home/leandrosavieira/catkin_ws/devel/lib/ar_pose/ar_multi] Erro 1
make[1]: ** [ar_tools/ar_pose/CMakeFiles/ar_multi.dir/all] Erro 2
make[1]: ** Esperando que outros processos terminem.
make[1]: ** [ar_tools/ar_pose/CMakeFiles/ar_single.dir/all] Erro 2
make: ** [all] Erro 2
Invoking "make install -j4 -l4" failed

I'm experiencing the same problem. Could you fix that?