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IFL-CAMP / easy_handeye

Automated, hardware-independent Hand-Eye Calibration
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My rqt_ easy_handeye There is no menu in handeye interface. ask your help #69

Open aoligeihahah opened 3 years ago

aoligeihahah commented 3 years ago

2020-12-02 01-21-38屏幕截图 If I click takesample, I will report an error. I don't know the reason and ask for your help

Error processing request: "camera_marker" passed to lookupTransform argument source_frame 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/he/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_server.py", line 61, in take_sample\n self.sampler.take_sample()\n', ' File "/home/he/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_sampler.py", line 88, in take_sample\n transforms = self._get_transforms()\n', ' File "/home/he/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_sampler.py", line 78, in _get_transforms\n Duration(10))\n', ' File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/buffer.py", line 87, in lookup_transform\n return self.lookup_transform_core(target_frame, source_frame, time)\n', 'LookupException: "camera_marker" passed to lookupTransform argument source_frame does not exist. \n'] Traceback (most recent call last): File "/home/he/catkin_ws/src/easy_handeye/rqt_easy_handeye/src/rqt_easy_handeye/rqt_easy_handeye.py", line 118, in handle_take_sample sample_list = self.client.take_sample() File "/home/he/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_client.py", line 69, 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 728, 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 [/ur10_kinect2_handeyecalibration_eye_on_base/take_sample] responded with an error: error processing request: "camera_marker" passed to lookupTransform argument source_frame does not exist. [ur10_kinect2_handeyecalibration_eye_on_base/namespace_he_OptiPlex_5040_17632_2104357553874637777_rqt-17] process has died [pid 17692, exit code 1, cmd /home/he/catkin_ws/src/easy_handeye/rqt_easy_handeye/scripts/rqt_easy_handeye name:=namespace_he_OptiPlex_5040_17632_2104357553874637777_rqt log:=/home/he/.ros/log/15dc51b4-33f6-11eb-8f33-484d7ea54583/ur10_kinect2_handeyecalibration_eye_on_base-namespace_he_OptiPlex_5040_17632_2104357553874637777_rqt-17.log]. log file: /home/he/.ros/log/15dc51b4-33f6-11eb-8f33-484d7ea54583/ur10_kinect2_handeyecalibration_eye_on_base-namespace_he_OptiPlex_5040_17632_2104357553874637777_rqt-17.log

marcoesposito1988 commented 3 years ago

Hello @aoligeihahah,

the sampler crashed, because the tf frame camera_marker that is configured in your launch file as the marker frame doesn't exist. You will have to change that parameter for your particular setup.

Since you are calibrating a kinect, I guess that you are using an AR marker tracking library, like ArUco. That library should publish the pose of the marker in tf, as a transform from the camera to the marker. You will have to insert the tf frame of the marker as your tracking_marker frame when you include or launch easy_handeye/calibrate.launch

aoligeihahah commented 3 years ago

Hello，I want to open the rqt menu bar and select plugins - visualization - image view, as shown in the figure below, But I have no menu bar to choose from. What's the reasonimage

aoligeihahah commented 3 years ago

My system is: ubantu16.04+ros-kinetic camera：Kinect2

lyh458 commented 3 years ago

Hello，I want to open the rqt menu bar and select plugins - visualization - image view, as shown in the figure below, But I have no menu bar to choose from. What's the reasonimage

Simply, you can just press “Add” button on your first rviz GUI, then select "image" plugin and choose the topic you want to show. Another way is run rqt, after that, a separated window will be showed and then choose the topic you want to be showed (I think the way you showed in the quoted picture is close to this, but I don't know how to combine them in one window.)

aoligeihahah commented 3 years ago

Thank you. I did as you said. My image didn't receive the image.

I'm very strange, if I just run aruco ros's single. Launch will get a color image, but run ur10 kinect2 calibration.launch After that, I tried rosrun image view image view image:=/aruco Single / result, the image will not be obtained and the window will not respond, as shown in the following figure: 2020-12-03 22-24-28屏幕截图

aoligeihahah commented 3 years ago

he@he-OptiPlex-5040:~$ cd catkin_ws he@he-OptiPlex-5040:~/catkin_ws$ source devel/setup.bash he@he-OptiPlex-5040:~/catkin_ws$ roslaunch easy_handeye ur10_kinect2_calibration.launch ... logging to /home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/roslaunch-he-OptiPlex-5040-16090.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

/home/he/.local/lib/python2.7/site-packages/pkg_resources/py2_warn.py:21: UserWarning: Setuptools will stop working on Python 2

You are running Setuptools on Python 2, which is no longer supported and

SETUPTOOLS WILL STOP WORKING <<< in a subsequent release (no sooner than 2020-04-20). Please ensure you are installing Setuptools using pip 9.x or later or pin to setuptools<45 in your environment. If you have done those things and are still encountering this message, please follow up at https://bit.ly/setuptools-py2-warning.

sys.version_info < (3,) and warnings.warn(pre + "" 60 + msg + "" 60) /home/he/.local/lib/python2.7/site-packages/pkg_resources/py2_warn.py:21: UserWarning: Setuptools will stop working on Python 2

You are running Setuptools on Python 2, which is no longer supported and SETUPTOOLS WILL STOP WORKING <<< in a subsequent release (no sooner than 2020-04-20). Please ensure you are installing Setuptools using pip 9.x or later or pin to setuptools<45 in your environment. If you have done those things and are still encountering this message, please follow up at https://bit.ly/setuptools-py2-warning.

sys.version_info < (3,) and warnings.warn(pre + "" 60 + msg + "" 60) WARN: unrecognized 'node' tag in tag /opt/ros/kinetic/lib/python2.7/dist-packages/xacro/init.py:102: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. return yaml.load(f) /opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/loader.py:409: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. data = yaml.load(text) started roslaunch server http://he-OptiPlex-5040:39483/

SUMMARY

PARAMETERS

NODES /ur10_kinect2_handeyecalibration_eye_on_base/ calibration_mover (rqt_easy_handeye/rqt_calibrationmovements) easy_handeye_calibration_server (easy_handeye/calibrate.py) hand_eye_solver (visp_hand2eye_calibration/visp_hand2eye_calibration_calibrator) namespace_he_OptiPlex_5040_16090_1111841254631612376_rqt (rqt_easy_handeye/rqt_easy_handeye) / controller_stopper (controller_stopper/node) dummy_handeye (tf/static_transform_publisher) easy_handeye_calibration_server_robot (easy_handeye/robot.py) kinect2 (nodelet/nodelet) kinect2_bridge (nodelet/nodelet) kinect2_points_xyzrgb_hd (nodelet/nodelet) kinect2_points_xyzrgb_qhd (nodelet/nodelet) kinect2_points_xyzrgb_sd (nodelet/nodelet) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_spawner (controller_manager/spawner) ros_control_stopped_spawner (controller_manager/spawner) rviz_he_OptiPlex_5040_16090_576387779056422326 (rviz/rviz) ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) /ur_hardware_interface/ ur_robot_state_helper (ur_robot_driver/robot_state_helper)

ROS_MASTER_URI=http://localhost:11311

process[kinect2-1]: started with pid [16110] process[kinect2_bridge-2]: started with pid [16111] process[kinect2_points_xyzrgb_sd-3]: started with pid [16112] [ INFO] [1607013279.036674379]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1607013279.040842891]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_qhd-4]: started with pid [16120] process[kinect2_points_xyzrgb_hd-5]: started with pid [16132] process[robot_state_publisher-6]: started with pid [16143] process[ur_hardware_interface-7]: started with pid [16161] process[ros_control_controller_spawner-8]: started with pid [16166] process[ros_control_stopped_spawner-9]: started with pid [16179] [ INFO] [1607013279.129207077]: Initializing nodelet with 4 worker threads. process[controller_stopper-10]: started with pid [16194] process[ur_hardware_interface/ur_robot_state_helper-11]: started with pid [16200] [ INFO] [1607013279.175369604]: waitForService: Service [/kinect2/load_nodelet] is now available. process[move_group-12]: started with pid [16203] process[dummy_handeye-13]: started with pid [16225] process[easy_handeye_calibration_server_robot-14]: started with pid [16245] [ INFO] [1607013279.425391456]: Waiting for controller manager service to come up on /controller_manager/switch_controller [ INFO] [1607013279.434385057]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting... process[ur10_kinect2_handeyecalibration_eye_on_base/hand_eye_solver-15]: started with pid [16250] process[ur10_kinect2_handeyecalibration_eye_on_base/easy_handeye_calibration_server-16]: started with pid [16304] process[ur10_kinect2_handeyecalibration_eye_on_base/namespace_he_OptiPlex_5040_16090_1111841254631612376_rqt-17]: started with pid [16309] process[ur10_kinect2_handeyecalibration_eye_on_base/calibration_mover-18]: started with pid [16325] [ INFO] [1607013279.567233569]: waitForService: Service [/ur_hardware_interface/dashboard/play] has not been advertised, waiting... [ INFO] [1607013279.568851547]: Initializing dashboard client [ INFO] [1607013279.575835815]: Connected: Universal Robots Dashboard Server

process[rviz_he_OptiPlex_5040_16090_576387779056422326-19]: started with pid [16338] [ INFO] [1607013279.672952773]: waitForService: Service [/ur_hardware_interface/dashboard/play] is now available. [ INFO] [1607013279.777587107]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/he/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: default depth_device: -1 reg_method: default reg_device: -1 max_depth: 12 min_depth: 0.1 queue_size: 5 bilateral_filter: true edge_aware_filter: true publish_tf: false base_name_tf: kinect2 worker_threads: 4 [ INFO] [1607013279.796640132]: Initializing urdriver [ INFO] [1607013279.797404779]: Checking if calibration data matches connected robot. [ WARN] [1607013279.798048578]: No realtime capabilities found. Consider using a realtime system for better performance [INFO] [1607013279.907163]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1607013279.913437]: Controller Spawner: Waiting for service controller_manager/load_controller [Info] [OpenCLDepthPacketProcessorImpl] devices: [Info] [OpenCLDepthPacketProcessorImpl] 0: Intel(R) HD Graphics Skylake Desktop GT2 (GPU)[Intel] [Info] [OpenCLDepthPacketProcessorImpl] selected device: Intel(R) HD Graphics Skylake Desktop GT2 (GPU)[Intel] [Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program... [ INFO] [1607013280.296503682]: Calibration checked successfully. [ INFO] [1607013280.517692074]: Loading robot model 'ur10'... [ WARN] [1607013280.520430818]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1607013280.521318401]: No root/virtual joint specified in SRDF. Assuming fixed joint [Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully libva info: VA-API version 0.39.0 libva info: va_getDriverName() returns 0 libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so libva info: Found init function __vaDriverInit_0_39 libva info: va_openDriver() returns 0 [Info] [VaapiRgbPacketProcessorImpl] driver: Intel i965 driver for Intel(R) Skylake - 1.7.0 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 5 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:2 with serial 295176535147 [Info] [Freenect2Impl] found 1 devices [ INFO] [1607013280.703622875]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1607013280.703663424]: [Kinect2Bridge::initDevice] 0: 295176535147 (selected) [ INFO] [1607013280.781047300]: Loading robot model 'ur10'... [ WARN] [1607013280.781080103]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1607013280.781097584]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1607013280.857082523]: Publishing maintained planning scene on 'monitored_planning_scene' [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1607013280.864778048]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [ INFO] [1607013280.868464308]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1607013280.868522452]: Starting scene monitor [ INFO] [1607013280.883284721]: Listening to '/planning_scene' [ INFO] [1607013280.883373925]: Starting world geometry monitor [ INFO] [1607013280.897164351]: Listening to '/collision_object' using message notifier with target frame '/world ' [ WARN] [1607013280.898018585]: No realtime capabilities found. Consider using a realtime system for better performance [ INFO] [1607013280.906397514]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1607013280.957806542]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1607013281.014703347]: Negotiated RTDE protocol version to 2. [ INFO] [1607013281.015196330]: Setting up RTDE communication with frequency 125.000000 [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1607013281.219082269]: [Kinect2Bridge::initDevice] device serial: 295176535147 [ INFO] [1607013281.219198897]: [Kinect2Bridge::initDevice] device firmware: 1.1.3323.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program... [ INFO] [1607013281.822891143]: Initializing OMPL interface using ROS parameters [ INFO] [1607013281.896848738]: Using planning interface 'OMPL' [ INFO] [1607013281.978932686]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1607013281.980251399]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1607013281.981603185]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1607013281.983999654]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1607013281.984884405]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1607013281.986057273]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1607013281.986155772]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1607013281.986176937]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1607013281.986193363]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1607013281.986210617]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1607013281.986226562]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1607013282.049308208]: Robot ready to receive control commands. [ WARN] [1607013282.074023964]: No realtime capabilities found. Consider using a realtime system for better performance [ INFO] [1607013282.074284070]: Loaded ur_robot_driver hardware_interface [Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully [ INFO] [1607013282.155406873]: rviz version 1.12.17 [ INFO] [1607013282.155517237]: compiled against Qt version 5.5.1 [ INFO] [1607013282.155561641]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1607013282.181050336]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1607013282.181124271]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1607013282.190236314]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1607013282.190305646]: [DepthRegistrationOpenCL::init] 0: Intel(R) HD Graphics Skylake Desktop GT2 [ INFO] [1607013282.190336405]: [DepthRegistrationOpenCL::init] selected device: Intel(R) HD Graphics Skylake Desktop GT2 [ INFO] [1607013282.230522933]: waitForService: Service [/controller_manager/switch_controller] is now available. [ INFO] [1607013282.230673428]: Service available. [ INFO] [1607013282.230765477]: Waiting for controller list service to come up on /controller_manager/list_controllers [ INFO] [1607013282.234605191]: Service available. [ INFO] [1607013282.315304448]: Robot's safety mode is now NORMAL [ INFO] [1607013282.315636598]: Robot mode is now RUNNING [INFO] [1607013282.334048]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1607013282.338022]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1607013282.346273]: Loading controller: joint_state_controller [INFO] [1607013282.352964]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1607013282.359968]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1607013282.370709]: Loading controller: pos_joint_traj_controller [INFO] [1607013282.401402]: Loading controller: scaled_pos_joint_traj_controller [INFO] [1607013282.526090]: Loading parameters for calibration /ur10_kinect2_handeyecalibration_eye_on_base/ from the parameters server [INFO] [1607013282.537469]: Loading controller: joint_group_vel_controller [INFO] [1607013282.705359]: Loading controller: speed_scaling_state_controller [INFO] [1607013282.722891]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller [INFO] [1607013282.738606]: Loading controller: force_torque_sensor_controller [INFO] [1607013282.747888]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1607013282.784020]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [ INFO] [1607013282.931591298]: Added FollowJointTrajectory controller for [ INFO] [1607013282.931776230]: Returned 1 controllers in list [ INFO] [1607013282.976461062]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1607013283.444400647]:

[ INFO] [1607013283.444480521]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1607013283.444505168]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1607013283.539441552]: Stereo is NOT SUPPORTED [ INFO] [1607013283.539667543]: OpenGl version: 3 (GLSL 1.3). Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info [INFO] [1607013286.512922]: Loading parameters for calibration ur10_kinect2_handeyecalibration_eye_on_base/ from the parameters server [ INFO] [1607013286.623491522]: Loading robot model 'ur10'... [ WARN] [1607013286.623536991]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1607013286.623553448]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1607013286.900664755]: Loading robot model 'ur10'... [ WARN] [1607013286.903091522]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1607013286.904139862]: No root/virtual joint specified in SRDF. Assuming fixed joint arguments: Namespace(quiet=False) unknowns: [] [ INFO] [1607013287.862542697]: Ready to take commands for planning group manipulator. [INFO] [1607013288.196183]: Configuring for calibration with namespace: /ur10_kinect2_handeyecalibration_eye_on_base/ [INFO] [1607013288.196766]: Loading parameters for calibration /ur10_kinect2_handeyecalibration_eye_on_base/ from the parameters server [ INFO] [1607013288.859291275]: Loading robot model 'ur10'... [ WARN] [1607013288.859655147]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1607013288.859802707]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1607013289.063682753]: Loading robot model 'ur10'... [ WARN] [1607013289.063730107]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1607013289.063747656]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1607013289.421988211]: Starting scene monitor [ INFO] [1607013289.433754839]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1607013290.549559434]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [ INFO] [1607013291.827194683]: Ready to take commands for planning group manipulator. [ INFO] [1607013291.827306107]: Looking around: no [ INFO] [1607013291.827341262]: Replanning: no [FATAL] [1607013303.924090268]: Failed to load nodelet '/kinect2_points_xyzrgb_hdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1607013303.924309265]: Failed to load nodelet '/kinect2_points_xyzrgb_qhdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1607013303.924481145]: Failed to load nodelet '/kinect2_points_xyzrgb_sdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1607013303.924484701]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2' [kinect2-1] process has died [pid 16110, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=kinect2 log:=/home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2-1.log]. log file: /home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2-1.log [kinect2_bridge-2] process has died [pid 16111, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_bridge-2.log]. log file: /home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_bridge-2.log [kinect2_bridge-2] restarting process process[kinect2_bridge-2]: started with pid [18052] [ INFO] [1607013304.184062845]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1607013304.191929676]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [he-OptiPlex-5040:54153], waiting... [kinect2_points_xyzrgb_sd-3] process has died [pid 16112, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/sd/camera_info rgb/image_rect_color:=kinect2/sd/image_color_rect depth_registered/image_rect:=kinect2/sd/image_depth_rect depth_registered/points:=kinect2/sd/points name:=kinect2_points_xyzrgb_sd log:=/home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_points_xyzrgb_sd-3.log]. log file: /home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_points_xyzrgb_sd-3*.log [kinect2_points_xyzrgb_hd-5] process has died [pid 16132, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/hd/camera_info rgb/image_rect_color:=kinect2/hd/image_color_rect depth_registered/image_rect:=kinect2/hd/image_depth_rect depth_registered/points:=kinect2/hd/points name:=kinect2_points_xyzrgb_hd log:=/home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_points_xyzrgb_hd-5.log]. log file: /home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_points_xyzrgb_hd-5.log [kinect2_points_xyzrgb_sd-3] restarting process process[kinect2_points_xyzrgb_sd-3]: started with pid [18069] [kinect2_points_xyzrgb_hd-5] restarting process process[kinect2_points_xyzrgb_hd-5]: started with pid [18071] [kinect2_points_xyzrgb_qhd-4] process has died [pid 16120, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/qhd/camera_info rgb/image_rect_color:=kinect2/qhd/image_color_rect depth_registered/image_rect:=kinect2/qhd/image_depth_rect depth_registered/points:=kinect2/qhd/points __name:=kinect2_points_xyzrgb_qhd __log:=/home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_points_xyzrgb_qhd-4.log]. log file: /home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_points_xyzrgb_qhd-4.log [kinect2_points_xyzrgb_qhd-4] restarting process process[kinect2_points_xyzrgb_qhd-4]: started with pid [18102]

If I open the image, I will report the errors. Am I missing some installation?

aoligeihahah commented 3 years ago

hello@marcoesposito1988，How should I get aruco, which should publish tagged poses in TF

marcoesposito1988 commented 3 years ago

There are some errors related to the kinect2 nodelets in your log:

[FATAL] [1607013303.924090268]: Failed to load nodelet '/kinect2_points_xyzrgb_hdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2'
[FATAL] [1607013303.924309265]: Failed to load nodelet '/kinect2_points_xyzrgb_qhdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2'
[FATAL] [1607013303.924481145]: Failed to load nodelet '/kinect2_points_xyzrgb_sdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2'
[FATAL] [1607013303.924484701]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2'
[kinect2-1] process has died [pid 16110, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=kinect2 __log:=/home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2-1.log].
log file: /home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2-1*.log
[kinect2_bridge-2] process has died [pid 16111, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_bridge-2.log].
log file: /home/he/.ros/log/f3c9a586-3571-11eb-9154-484d7ea54583/kinect2_bridge-2*.log`

If the kinect2_bridge node is not running, the topic with the RGB image may not exist. In that case, the aruco_ros node can't work, because it is not getting any input.

I would suggest you to check:

If you can't get aruco_ros to work, maybe you can try easy_aruco instead.

aoligeihahah commented 3 years ago

I have another question. You have plugins in the rqt document display, but my rqt does not. What is the reason? 02_sample_sample 2020-12-11 02-53-10屏幕截图 I want to turn on rqt easy In the handeye menu bar, select plugins - visualization - image view. Do you have any good methods？

aoligeihahah commented 3 years ago

hello@marcoesposito1988，This is the marker parameter I detected by aruco. 4_1 How do I get the pose of publishing tags in TF and how to use TF frame that must be inserted into tag as framework easy_ handeye/ calibrate.launch ? Can you write an example for me

wyf2015fei commented 3 years ago

try to apt-get install rqt*

marcoesposito1988 commented 3 years ago

hello@marcoesposito1988，This is the marker parameter I detected by aruco. 4_1 How do I get the pose of publishing tags in TF and how to use TF frame that must be inserted into tag as framework easy_ handeye/ calibrate.launch ? Can you write an example for me

@lyh458 already did; you can find it here: https://github.com/IFL-CAMP/easy_handeye/blob/master/docs/example_launch/iiwa_kinect_xtion_calibration.launch

zhangtianren commented 3 years ago

2020-12-02 01-21-38屏幕截图

i have the same question : NO MENU BAR ! i can not select plugins - visualization - image view. if you have solved it pls tell me tks

wyf2015fei commented 3 years ago

2020-12-02 01-21-38屏幕截图

i have the same question : NO MENU BAR ! i can not select plugins - visualization - image view. if you have solved it pls tell me tks

rqt_imageview you can see it

a2824256 commented 3 years ago

2020-12-02 01-21-38屏幕截图

i have the same question : NO MENU BAR ! i can not select plugins - visualization - image view. if you have solved it pls tell me tks

Look at my Chinese blog to solve your problem. https://blog.csdn.net/a2824256/article/details/113127740

si1mari11ion commented 3 years ago

hello @ @

2020-12-02 01-21-38屏幕截图 If I click takesample, I will report an error. I don't know the reason and ask for your help

Error processing request: "camera_marker" passed to lookupTransform argument source_frame 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/he/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_server.py", line 61, in take_sample\n self.sampler.take_sample()\n', ' File "/home/he/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_sampler.py", line 88, in take_sample\n transforms = self._get_transforms()\n', ' File "/home/he/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_sampler.py", line 78, in _get_transforms\n Duration(10))\n', ' File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/buffer.py", line 87, in lookup_transform\n return self.lookup_transform_core(target_frame, source_frame, time)\n', 'LookupException: "camera_marker" passed to lookupTransform argument source_frame does not exist. \n'] Traceback (most recent call last): File "/home/he/catkin_ws/src/easy_handeye/rqt_easy_handeye/src/rqt_easy_handeye/rqt_easy_handeye.py", line 118, in handle_take_sample sample_list = self.client.take_sample() File "/home/he/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_client.py", line 69, 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 728, 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 [/ur10_kinect2_handeyecalibration_eye_on_base/take_sample] responded with an error: error processing request: "camera_marker" passed to lookupTransform argument source_frame does not exist. [ur10_kinect2_handeyecalibration_eye_on_base/namespace_he_OptiPlex_5040_17632_2104357553874637777_rqt-17] process has died [pid 17692, exit code 1, cmd /home/he/catkin_ws/src/easy_handeye/rqt_easy_handeye/scripts/rqt_easy_handeye name:=namespace_he_OptiPlex_5040_17632_2104357553874637777_rqt log:=/home/he/.ros/log/15dc51b4-33f6-11eb-8f33-484d7ea54583/ur10_kinect2_handeyecalibration_eye_on_base-namespace_he_OptiPlex_5040_17632_2104357553874637777_rqt-17.log]. log file: /home/he/.ros/log/15dc51b4-33f6-11eb-8f33-484d7ea54583/ur10_kinect2_handeyecalibration_eye_on_base-namespace_he_OptiPlex_5040_17632_2104357553874637777rqt-17.log hello i encontered the same problem ,when i clicked on TAKE SAMPLE,the error comes out like above,could someone please tell me how to solve it?it has driven me mad.... @aoligeihahah bro how did you solve that,could you plaese tell me ,thank you