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2014-01-28 17:22:44 -0500 marked best answer Trying to view ir/image raw from Xtion Pro crashes camera nodelet

Hi all! When trying to view the raw ir image from the Xtion Pro (Ubuntu/Diamondback using openni_camera_unstable):

roslaunch openni_camera_unstable openni.launch rosrun image_view image_view image:=/camera/ir/image_raw

I get:

/opt/ros/diamondback/stacks/common/nodelet/bin/nodelet: symbol lookup error: /home/prp/ros/prp/openni_kinect/openni_camera_unstable/lib/libopenni_nodelet.so: undefined symbol: _ZNK14openni_wrapper7IRImage7fillRawEjjPtj [camera_nodelet_manager-1] process has died [pid 17721, exit code 127].

The last entry in the log is:

Connection: Creating TransportSubscriberLink for topic [/camera/ir/image_raw] connected to [callerid=[/image_view_1311275454656139276] address=[TCPROS connection to [127.0.1.1:47969 on socket 31]]]

Is this a problem, or am I just trying to do something I shouldn't be doing? Otherwise, things seem be working fine and I can view the point clouds using rviz.

2014-01-28 17:22:19 -0500 marked best answer cameracalibrator.py doesn't work with --no-service-check?

I am trying to calibrate a stereo camera (Logitech Webcam Pro 9000) setup under Ubuntu/Diamondback. I am using usb_cam drivers, which are publishing:

/image
/rosout
/rosout_agg
/usb_cam_left/camera_info
/usb_cam_left/image_raw
/usb_cam_left/image_raw/compressed
/usb_cam_left/image_raw/compressed/parameter_descriptions
/usb_cam_left/image_raw/compressed/parameter_updates
/usb_cam_left/image_raw/theora
/usb_cam_left/image_raw/theora/parameter_descriptions
/usb_cam_left/image_raw/theora/parameter_updates
/usb_cam_right/camera_info
/usb_cam_right/image_raw
/usb_cam_right/image_raw/compressed
/usb_cam_right/image_raw/compressed/parameter_descriptions
/usb_cam_right/image_raw/compressed/parameter_updates
/usb_cam_right/image_raw/theora
/usb_cam_right/image_raw/theora/parameter_descriptions
/usb_cam_right/image_raw/theora/parameter_updates

Since the usb_cam drivers do not support the set_camera_info service, I am invoking the cameracalibrator.py with the --no-service-check flag:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 --no-service-check right:=/usb_cam_right/image_raw left:=/usb_cam_left/image_raw right_camera:=/usb_cam_right left_camera:=/usb_cam_left

And absolutely nothing happens - no errors, no messages, no gui. The calibrator node is running and is subscribed to the image_raw feeds. Any ideas?

2013-11-01 08:28:01 -0500 marked best answer ‘make_shared’ is not a member of ‘boost’

Hi All,

Having a problem with upgrading to Electric. Getting a compile error on code that was fine under Diamondback: " 'make_shared' is not a member of 'boost' "

  /home/prp/ros/whatever/src/pointCloudUtils.cpp:118: error: ‘make_shared’ is not a member of ‘boost’
  /home/prp/ros/whatever/src/pointCloudUtils.cpp:118: error: expected primary-expression before ‘>’ token

The code is as follows:

unsigned int minZPt_faster(const pcl::PointCloud<pcl::PointXYZ> &cloud, const unsigned int kernelSize)
{
  KdTreeFLANN<PointXYZ>nN;

  nN.setEpsilon(.010);
  DefaultPointRepresentation<PointXYZ> pr;
  nN.setPointRepresentation(boost::make_shared<DefaultPointRepresentation<PointXYZ> > (pr));
  nN.setInputCloud(cloud.makeShared());
  nN.setMinPts(3);
  ...
}

The version of boost I have is 1.40. Unfortunately, as I didn't write this particular piece of code, I'm not clear on what the problem here is, and would appreciate any help! Thanks in advance...

2013-03-05 12:01:51 -0500 marked best answer image_proc warning /camera/camera/...

Hi all,

I am receiving warnings from image_proc every 30 seconds or so:

Note the doubling of 'camera'.

The prosilica_camera node is publishing /camera/image_raw and /camera/camera/info, and image_proc is subscribed to them with no problem, other than the persistent warnings. I am launching the nodes with:

<launch>
  <node name="launch_prosilica_camera" pkg="prosilica_camera" type="prosilica_node" output="screen">
    <param name="~trigger_mode" type="str" value="streaming"/>
  </node>
  <node name="launch_image_proc" pkg="image_proc" type="image_proc" output="screen">
    <env name="ROS_NAMESPACE" value="camera"/>
  </node>
</launch>

It could be me, but I think this behavior just began recently, perhaps due to an update.

Any ideas?

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2011-12-14 00:16:42 -0500 answered a question openni_ros - xtion pro - network connection has been closed!

Hi. It seems that your system is confused between the Diamondback installation and the Electric installation. The last line of your error dump references Diamondback. Make sure your environment is set up correctly.

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2011-10-05 07:27:41 -0500 edited question How to use_indices with Kinect/Asus?

Hi all,

Trying to cut down on the point cloud bandwidth with the Asus Xtion Pro sensor using the use_indices feature. Working with Electric/Ubuntu Lucid. Pulled openni_camera via apt-get. My launch for the sensor looks like this:

<launch>
    <param name="/asus/driver/use_indices" type="bool" value="true" />
    <param name="/asus/driver/depth_registration" type="bool" value="false" />
    <param name="/asus/driver/depth_mode" value="4" />

    <include file="$(find openni_launch)/launch/openni.launch" >
    <arg name="camera" value="asus" />
    </include>
</launch>

The code to set up the indices vector:

// set up indices to window the Asus point cloud1
ros::Publisher PointIndicesPub;
pcl::PointIndices IN;
PointIndicesPub = nh_.advertise<pcl::PointIndices>("/asus/driver/depth/indices", 1, true);  // latched
int x1=80, y1=60, x2=240, y2=180;   // change to params
IN.indices.resize((x2-x1+1)*(y2-y1+1));
int a,b,c=0;
for (b=y1; b<=y2; b++) {
  for (a=x1; a<=x2; a++) {
    IN.indices.at(c++) = (b*320)+a;
  }
}
PointIndicesPub.publish(IN);

I've tried a number of variations (like publishing on depth/indices), but the result is always the same, the point cloud comes across as the full 320x240. I do not get any runtime errors, my indices topic is being published just fine. I've also looked at the rxconsole input, but I do not see the openni nodelet put out any info regarding the state of the use_indices parameter. What am I missing?

Thanks, in advance for any help!


Ok, I been going through this problem, and I finally figured out that the launch sequence does not actually load the openni_nodelet.cpp code (which does the use_indices processing), it loads the driver.cpp code (which does not). Why is that? Is the nodelet not actually working?


Changed the device.launch file to load the openni_nodelet.cpp nodelet instead of driver.cpp. Unfortunately it dies every times with exit code -11. Traced it to OpenNINodelet::setupDevice routine, and found it crashes at the following line:

->  int image_mode = mapXnMode2ConfigMode (device_->getDefaultImageMode ());
    param_nh.param ("image_mode", image_mode, image_mode );

Any idea why?


Got to the bottom of the rat hole. It fails because the Asus XtionPro does not support image modes, only depth. The code, as is, croaks because there are no image mode enumerated, leaving available_image_modes_ empty.

So, bottom line is driver.cpp supports the Asus device, but not use_indices; openni_nodelet.cpp supports use_indices, but not the Asus device. Any chance of seeing use_indices supported in driver.cpp?