iamyk666
commented
5 years ago When the "TAKE SAMPLE" is no response ,and quit,there are some errors as follow: _____\ [ERROR] [1548381003.191268, 263.534000]: Error processing request: canTransform: source_frame camera_marker does not exist. ['Traceback (most recent call last):\n', ' File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 625, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/home/irec/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_server.py", line 38, in take_sample\n self.calibrator.take_sample()\n', ' File "/home/irec/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_calibrator.py", line 140, in take_sample\n transforms = self._get_transforms()\n', ' File "/home/irec/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_calibrator.py", line 123, in _get_transforms\n time = self._wait_for_transforms()\n', ' File "/home/irec/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_calibrator.py", line 111, in _wait_for_transforms\n self.listener.waitForTransform(self.tracking_base_frame, self.tracking_marker_frame, now, rospy.Duration(10))\n', ' File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/listener.py", line 76, in waitForTransform\n raise tf2_ros.TransformException(error_msg or "no such transformation: \"%s\" -> \"%s\"" % (source_frame, target_frame))\n', 'TransformException: canTransform: source_frame camera_marker does not exist.\n'] Traceback (most recent call last): File "/home/irec/catkin_ws/src/easy_handeye/rqt_easy_handeye/src/rqt_easy_handeye/rqt_easy_handeye.py", line 104, in handle_take_sample sample_list = self.client.take_sample() File "/home/irec/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_client.py", line 34, in take_sample return self.take_sample_proxy().samples File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in call return self.call(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 515, in call responses = transport.receive_once() File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 727, in receive_once p.read_messages(b, msg_queue, sock) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 353, in read_messages self._read_ok_byte(b, sock) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 336, in _read_ok_byte raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str)) rospy.service.ServiceException: service [/ur5_kinect_handeyecalibration_eye_on_base/take_sample] responded with an error: error processing request: canTransform: source_frame camera_marker does not exist. [ur5_kinect_handeyecalibration_eye_on_base/namespace_irec_desktop_21850_5975872909915625587_rqt-10] process has died [pid 21920, exit code 1, cmd /opt/ros/kinetic/lib/rqt_gui/rqt_gui --clear-config --perspective-file /home/irec/catkin_ws/src/easy_handeye/easy_handeye/launch/rqt_easy_handeye.perspective __name:=namespace_irec_desktop_21850_5975872909915625587_rqt log:=/home/irec/.ros/log/e24ff9e0-2042-11e9-aaf0-7085c23896f7/ur5_kinect_handeyecalibration_eye_on_base-namespace_irec_desktop_21850_5975872909915625587_rqt-10.log]. log file: /home/irec/.ros/log/e24ff9e0-2042-11e9-aaf0-7085c23896f7/ur5_kinect_handeyecalibration_eye_on_base-namespace_irec_desktop_21850_5975872909915625587_rqt-10*.log
SamNew1
marcoesposito1988
FIRST,THIS IS MY LAUNCH FILE.(You can copy this launch file to your /easy_hand/src/launch/ and run it as my steps as follow to copy this problem,thank you. )
I want use it to do the easy_hand calibration with gazebo,And I used kinect1.0 camera. The steps are as follow: First I run command $ roslaunch freenect_launch freenect.launch to start the camera. Next , I run command $ roslaunch ur_gazebo to establish a simulate environment. Finally I run command $ roslaunch easy_handeye ur5_kinect_calibration.launch to do easy_hand calibration.
There are some warning in the $ roslaunch easy_handeye ur5_kinect_calibration.launch window as follow:**
[ WARN] [1548377886.673253632, 21.800000000]: Could not find any compatible image output mode for 1. Falling back to default image output mode 1. [ WARN] [1548377886.673301001, 21.800000000]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1. [ WARN] [1548377886.687876734, 21.814000000]: Camera calibration file /home/irec/.ros/camera_info/rgb_A00365908893111A.yaml not found. [ WARN] [1548377886.687926797, 21.814000000]: Using default parameters for RGB camera calibration. [ WARN] [1548377886.687969401, 21.814000000]: Camera calibration file /home/irec/.ros/camera_info/depth_A00365908893111A.yaml not found. [ WARN] [1548377886.688220450, 21.815000000]: Using default parameters for IR camera calibration. [ WARN] [1548377887.219417598, 22.341000000]: Skipping virtual joint 'fixed_base' because its child frame [ WARN] [1548377888.323194463, 23.447000000]: 'base_link' does not match the URDF frame 'world'. Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch. [ WARN] [1548377888.436476686, 23.558000000]: Interactive marker 'EE:goal_ee_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
And when the (0/17) GUI quited immediately there was a error in the $ roslaunch easy_handeye ur5_kinect_calibration.launch window as follow:
Traceback (most recent call last): File "/home/irec/catkin_ws/src/easy_handeye/rqt_easy_handeye/src/rqt_easy_handeye/rqt_calibrationmovements.py", line 251, in handle_next_pose self.local_mover.execute_plan(plan) File "/home/irec/catkin_ws/src/easy_handeye/rqt_easy_handeye/src/rqt_easy_handeye/rqt_calibrationmovements.py", line 110, in execute_plan raise RuntimeError("got crazy plan!") RuntimeError: got crazy plan! [calibration_mover-35] process has died [pid 15198, exit code 1, cmd /home/irec/catkin_ws/src/easy_handeye/rqt_easy_handeye/scripts/rqt_calibrationmovements __name:=calibration_mover __log:=/home/irec/.ros/log/e2fa2cb4-203b-11e9-aaf0-7085c23896f7/calibration_mover-35.log]. log file: /home/irec/.ros/log/e2fa2cb4-203b-11e9-aaf0-7085c23896f7/calibration_mover-35*.log
And I couldn't take sample at the same time . when I click "TAKE SAMPLE" , it will be no response ,then quit.
And these are my problems , please help me solve it, I can't find any example like it on the website.