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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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Registered xyzrgb point cloud stops working after couple of secs + Compiling the source code is not working #195

Closed mehdish89 closed 7 years ago

mehdish89 commented 7 years ago

System Configuration

Version Your Configuration
Operating System Ubuntu 14.04.5 LTS
Kernel 4.4.0-040400-generic
ROS indigo
ROS RealSense 1.6.0
librealsense 1.11.1
Camera Type-Firmware Intel RealSense SR300 - 3.10.10.0

Expected Behavior

Steps to Reproduce

Installed ros-indigo-librealsense and ros-indigo-realsense-camera. Running the launch file "realsense_camera/sr300_nodelet_rgbd.launch", the camera works fine and rgb and depth stream are working.

Actual Behavior

Only the registered point cloud(xyzrgb) topic stops getting messages after a while, like 20 secs, even though the point cloud is still getting the messages and working fine.

I found a similar issue, addressed in #25 , was resolved by some changes in the 'realsense_camera' source code that extrapolates the point cloud message time-stamps into the future. I tried to do so, compiling the package from source, and after it compiled successfully, running the launch file "realsense_camera/sr300_nodelet_rgbd.launch", I get this error that says nodelet manager fails to load the SR300Nodelet.

[ERROR] [1485194503.220707883]: Failed to load nodelet [/driver] of type [realsense_camera/SR300Nodelet] even after refreshing the cache: MultiLibraryClassLoader: Could not create object of class type realsense_camera::SR300Nodelet as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [ERROR] [1485194503.220751435]: The error before refreshing the cache was: Failed to load library /home/lab/catkin_ws/devel/lib//librealsense_camera_nodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/lab/catkin_ws/devel/lib//librealsense_camera_nodelet.so: undefined symbol: _ZN2cv6String10deallocateEv)

dbolkensteyn commented 7 years ago

I am facing the same issue.

The amount of seconds I am getting messages on /camera/depth_registered/points seems to depend on the queue_size argument passed on to sr300_nodelet_rgbd.launch. With the default of 100, I am getting about 600 messages. With a value of 10000, I received 51946 messages before it stopped, so it seems to be a good workaround (that's easily 20 minutes).

I also reproduce this without rviz, simply using rostopic echo /camera/depth_registered/points.

System Configuration

Version Your Configuration
Operating System Ubuntu 16.04.1 LTS
Kernel 4.4.0-59-generic
ROS kinetic
ROS RealSense 1.7.0
librealsense 1.12.1
Camera Type-Firmware Name: Intel RealSense SR300, Camera FW: 3.21.0.0
CPU Intel(R) Core(TM) i7-6700K CPU @ 4.00GHz
GPU NVIDIA GeForce GTX 1080
RAM 32GB DDR4 2133 MHz
Harddisk SSD

Output of top

While receiving messages:

top - 16:04:43 up  8:23,  1 user,  load average: 1.39, 1.41, 1.42
Tasks: 294 total,   3 running, 291 sleeping,   0 stopped,   0 zombie
%Cpu(s): 14.2 us,  2.4 sy,  0.0 ni, 83.0 id,  0.0 wa,  0.0 hi,  0.4 si,  0.0 st
KiB Mem : 32885132 total, 26531292 free,  3505592 used,  2848248 buff/cache
KiB Swap:        0 total,        0 free,        0 used. 28645272 avail Mem 

  PID USER      PR  NI    VIRT    RES    SHR S  %CPU %MEM     TIME+ COMMAND                                                            
23437 dinesh    20   0 2301440 264732 122096 R  48.8  0.8  17:08.01 rviz                                                               
 6599 dinesh    20   0 10.168g 225980 113244 S  47.8  0.7  10:37.78 nodelet                                                            
 1175 root      20   0  601296 238240 172764 S  14.6  0.7  59:35.45 Xorg                                                               
 2178 dinesh    20   0 2296980 464156  87556 R   8.0  1.4  14:43.98 compiz                                                             
22820 dinesh    20   0 1138032  67776   7552 S   6.6  0.2   3:24.23 python                                                             
23432 dinesh    20   0  523368  14180  12696 S   2.3  0.0   1:22.00 state_publisher

After it stopped:

Tasks: 293 total,   2 running, 291 sleeping,   0 stopped,   0 zombie
%Cpu(s): 13.7 us,  1.9 sy,  0.0 ni, 84.2 id,  0.0 wa,  0.0 hi,  0.2 si,  0.0 st
KiB Mem : 32885132 total, 26328696 free,  3701900 used,  2854536 buff/cache
KiB Swap:        0 total,        0 free,        0 used. 28444040 avail Mem 

  PID USER      PR  NI    VIRT    RES    SHR S  %CPU %MEM     TIME+ COMMAND                                                            
 6599 dinesh    20   0 10.168g 226288 113244 S  54.3  0.7  15:55.35 nodelet                                                            
23437 dinesh    20   0 2301440 264732 122096 S  15.6  0.8  22:14.56 rviz                                                               
 2178 dinesh    20   0 2296980 470300  87556 S  11.3  1.4  15:35.35 compiz                                                             
22820 dinesh    20   0 1138032  67776   7552 S  11.3  0.2   4:11.49 python                                                             
 1175 root      20   0  601320 238284 172808 S  10.9  0.7  61:25.98 Xorg                                                               
23432 dinesh    20   0  523368  14180  12696 S   4.3  0.0   1:41.81 state_publisher
mdhorn commented 7 years ago

@mehdish89 Build from source should be working. Please take a look at the tutorial about building from source: http://wiki.ros.org/realsense_camera/Tutorials

mdhorn commented 7 years ago

The problem with the /camera/depth_registered/points topic seems like it might be related to either the timestamps on the input topics, or maybe the synchronization filter used. We have seen increasing the queue_size as "work around", but also setting the synchronization filter to be exact_sync seems to help.

index 084390222b4e..e6ca7097340f 100644
--- a/realsense_camera/launch/sr300_nodelet_rgbd.launch
+++ b/realsense_camera/launch/sr300_nodelet_rgbd.launch
@@ -32,7 +32,9 @@
        If the depth_registered pointcloud topic generated by the depth_image_proc package does not contain data,
        increase this value further. -->
   <arg name="queue_size"       default="100" />
-  <param name="$(arg camera)/points_xyzrgb_sw_registered/queue_size" type="int" value="$(arg queue_size)" />
+  <arg name="exact_sync"       default="true" />
+  <param name="$(arg camera)/points_xyzrgb_sw_registered/queue_size" type="int"  value="$(arg queue_size)" />
+  <param name="$(arg camera)/points_xyzrgb_sw_registered/exact_sync" type="bool" value="$(arg exact_sync)" />

   <!-- Optionally suppress loading the driver nodelet. Useful while playing back recorded raw data from a bag.-->
   <arg name="load_driver"   default="true" />

In general, systems with less resources (RAM and cores) seem to stop publishing sooner.

This still needs more investigation. Inputs, insights, and additional data welcome.

dbolkensteyn commented 7 years ago

FYI I've just tested the R200 camera (the older model) on the same computer I tested the SR300 on, and it does not seem to be affected by this issue. I received over 70'000 registered depth messages from it with its default queue_size argument value of 100.

dbolkensteyn commented 7 years ago

Adding exact_sync isn't helping much. I also see message transmission getting interrupted for a while. For example it successfully receives 37 messages, then stalls for 30-60 seconds, then another 30 messages are received, etc. They seem to come in batch of ~33.

dbolkensteyn commented 7 years ago

@mdhorn Is this issue related to #47 and #89? Will the pointcloud generation code be moved into a separate ROS node and communicate with this node only through ROS topics?

Update: Actually the registered point cloud is published by the rgbd_launch package. It also can generate the non-registered point cloud (which doesn't stall), but for that there also is some "native" code in this repo: https://github.com/intel-ros/realsense/blob/1.7.1/realsense_camera/src/base_nodelet.cpp#L925 By default the non-registered point cloud is published by rgbd_launch, and enable_pointcloud has to be passed as true to nodelet_rgbd.launch to use the old "native" point cloud publisher which probably is still around only for backwards-compatibility.

jonpol01 commented 7 years ago

We actually encountered this problem(20~30mins to die) on R200 on intel joule environment. If the said low spec env only have this issues.. Then I am hoping someone can answer for a workaround.

arpit15 commented 7 years ago

@mdhorn Is there any update on this issue? Compiling from source create errors for me.

mdhorn commented 7 years ago

@arpit15 Can you provide details of the platform you are using to compile: OS, version of ROS, etc. What compile error are you seeing?

The code on indigo-devel always compiles for the default ROS platforms, so I'm curious what problem you are seeing.

arpit15 commented 7 years ago

OS: Ubuntu 14.04 ROS version: Indigo The code is able to compile. However I get runtime errors

[ERROR] [1490328431.571617457]: Failed to load nodelet [/camera/driver] of type [realsense_camera/SR300Nodelet] even after refreshing the cache: MultiLibraryClassLoader: Could not create object of class type realsense_camera::SR300Nodelet as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [ERROR] [1490328431.571663617]: The error before refreshing the cache was: Failed to load library /home/arpit/ros_wss/exp_ws/devel/lib//librealsense_camera_nodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/arpit/ros_wss/exp_ws/devel/lib//librealsense_camera_nodelet.so: undefined symbol: _ZN2cv6String10deallocateEv) [FATAL] [1490328431.571806916]: Failed to load nodelet '/camera/driverof typerealsense_camera/SR300Nodeletto managercamera_nodelet_manager' [camera/driver-3] process has died [pid 8069, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load realsense_camera/SR300Nodelet camera_nodelet_manager depth:=depth color:=rgb ir:=ir ir2:=ir2 name:=driver log:=/home/arpit/.ros/log/5a6d8b94-1047-11e7-95fe-4ccc6a67057c/camera-driver-3.log]. log file: /home/arpit/.ros/log/5a6d8b94-1047-11e7-95fe-4ccc6a67057c/camera-driver-3*.log

mdhorn commented 7 years ago

@arpit15 Which were of gcc are you using? gcc -v

Does the standard ROS release package correctly on your system? sudo apt-get update ; sudo apt-get install ros-indigo-realsense-camera

Try clearing your build environment and rebuild from scratch: cd /home/arpit/ros_wss/exp_ws rm -rf build*/ devel*/ logs/ .catkin_* catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo

arpit15 commented 7 years ago

@mdhorn gcc specs are as follows

Using built-in specs. COLLECT_GCC=gcc COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/4.8/lto-wrapper Target: x86_64-linux-gnu Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.8.4-2ubuntu1 14.04.3' --with-bugurl=file:///usr/share/doc/gcc-4.8/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.8 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.8 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libmudflap --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.8-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu Thread model: posix gcc version 4.8.4 (Ubuntu 4.8.4-2ubuntu1~14.04.3)

I cleared build devel logs .catkin_* and then compile everything using catkin build -DCMAKE_BUILD_TYPE=RelWithDebInfo The compilation was successful as before. However I got the same error as well.

mdhorn commented 7 years ago

Does the standard ROS release package correctly on your system? sudo apt-get update ; sudo apt-get --reinstall install ros-indigo-realsense-camera

If possible, update the latest release of 14.04 which is using gcc 4.9.x.

arpit15 commented 7 years ago

Yes, the standard ROS release package is working correctly. However I am facing the problem of this thread i.e. XYZRGB pointcloud stops streaming after sometime. Therefore I wanted to try building from source.

mdhorn commented 7 years ago

@arpit15 what hardware are you using? CPU, memory?

mdhorn commented 7 years ago

Researching that error you listed for the undefined symbol looks more like a possible OpenCV issue.

Does the system have any OpenCV3 libraries installed?

What is the output of: dpkg -l '*opencv*'

This might be helpful as well: https://github.com/introlab/rtabmap_ros/issues/33#issuecomment-137886650

arpit15 commented 7 years ago

the output of dpkg -l '*opencv*'

Desired=Unknown/Install/Remove/Purge/Hold | Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad) ||/ Name Version Architecture Description +++-=============================================-===========================-===========================-=============================================================================================== ii libopencv-calib3d-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-calib3d ii libopencv-calib3d2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision Camera Calibration library ii libopencv-contrib-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-contrib ii libopencv-contrib2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision contrib library ii libopencv-core-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-core ii libopencv-core2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision core library ii libopencv-dev 2.4.8+dfsg1-2ubuntu1 amd64 development files for opencv ii libopencv-features2d-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-features2d ii libopencv-features2d2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision Feature Detection and Descriptor Extraction library ii libopencv-flann-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-flann ii libopencv-flann2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision Clustering and Search in Multi-Dimensional spaces library ii libopencv-gpu-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-gpu2.4 ii libopencv-gpu2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision GPU library ii libopencv-highgui-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-highgui ii libopencv-highgui2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision High-level GUI and Media I/O library ii libopencv-imgproc-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-imgproc ii libopencv-imgproc2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision Image Processing library ii libopencv-legacy-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-legacy ii libopencv-legacy2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision legacy library ii libopencv-ml-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-ml ii libopencv-ml2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision Machine Learning library ii libopencv-objdetect-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-objdetect ii libopencv-objdetect2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision Object Detection library ii libopencv-ocl-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-ocl2.4 ii libopencv-ocl2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision OpenCL support library ii libopencv-photo-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-photo2.4 ii libopencv-photo2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision computational photography library ii libopencv-stitching-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-stitching2.4 ii libopencv-stitching2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision image stitching library ii libopencv-superres-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-superres2.4 ii libopencv-superres2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision Super Resolution library ii libopencv-ts-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-ts2.4 ii libopencv-ts2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision ts library ii libopencv-video-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-video ii libopencv-video2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision Video analysis library ii libopencv-videostab-dev:amd64 2.4.8+dfsg1-2ubuntu1 amd64 development files for libopencv-videostab2.4 ii libopencv-videostab2.4:amd64 2.4.8+dfsg1-2ubuntu1 amd64 computer vision video stabilization library ii libopencv2.4-java 2.4.8+dfsg1-2ubuntu1 all Java bindings for the computer vision library ii libopencv2.4-jni 2.4.8+dfsg1-2ubuntu1 amd64 Java jni library for the computer vision library ii opencv-data 2.4.8+dfsg1-2ubuntu1 all development data for opencv ii python-opencv 2.4.8+dfsg1-2ubuntu1 amd64 Python bindings for the computer vision library un python2.3-opencv (no description available) un python2.7-opencv (no description available) ii ros-indigo-opencv-candidate 0.2.4-0trusty-20170313-0936 amd64 Experimental OpenCV functions ii ros-indigo-opencv3 3.1.0-1trusty-20170313-0356 amd64 OpenCV 3.0 ii ros-indigo-vision-opencv 1.11.15-0trusty-20170313-09 amd64 Packages for interfacing ROS with OpenCV, a library of programming functions for real time comp

Is there a way to compile just realsense camera against opencv3 without uninstalling everything and compiling from source?

mdhorn commented 7 years ago

I would guess that the opencv3 package you have installed is the reason the code you build from source doesn't work. Can you try removing that package and rebuilt, and test the code? sudo apt-get remove ros-indigo-opencv3

arpit15 commented 7 years ago

@mdhorn I removed opencv3 using the above command. However I am still facing the same error.

mdhorn commented 7 years ago

Strange, if you remove the opencv3 and rebuilt I would not expect to still see that. There is something else on your system.

can you provide the output of 

ldd /home/arpit/ros_wss/exp_ws/devel/lib//librealsense_camera_nodelet.so
objdump -p /home/arpit/ros_wss/exp_ws/devel/lib//librealsense_camera_nodelet.so
arpit15 commented 7 years ago

The output is as follows

linux-vdso.so.1 => (0x00007ffc78fc1000) /usr/lib/libtcmalloc_minimal.so.4 (0x00007f4c0739e000) libcv_bridge.so => /opt/ros/indigo/lib/libcv_bridge.so (0x00007f4c0717b000) libopencv_core.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4 (0x00007f4c06d0b000) libimage_transport.so => /opt/ros/indigo/lib/libimage_transport.so (0x00007f4c06a97000) libdynamic_reconfigure_config_init_mutex.so => /opt/ros/indigo/lib/libdynamic_reconfigure_config_init_mutex.so (0x00007f4c06890000) libnodeletlib.so => /opt/ros/indigo/lib/libnodeletlib.so (0x00007f4c06636000) libclass_loader.so => /opt/ros/indigo/lib/libclass_loader.so (0x00007f4c06417000) libtf.so => /opt/ros/indigo/lib/libtf.so (0x00007f4c061e5000) libtf2_ros.so => /opt/ros/indigo/lib/libtf2_ros.so (0x00007f4c05f45000) libroscpp.so => /opt/ros/indigo/lib/libroscpp.so (0x00007f4c05be0000) libroscpp_serialization.so => /opt/ros/indigo/lib/libroscpp_serialization.so (0x00007f4c059dc000) librosconsole.so => /opt/ros/indigo/lib/librosconsole.so (0x00007f4c057b0000) librostime.so => /opt/ros/indigo/lib/librostime.so (0x00007f4c05586000) libboost_system.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.54.0 (0x00007f4c05381000) libboost_thread.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0 (0x00007f4c0516b000) libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f4c04f4d000) libconsole_bridge.so.0.2 => /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 (0x00007f4c04d42000) librealsense.so.1 => /home/arpit/ros_wss/exp_ws/devel/.private/librealsense/lib/librealsense.so.1 (0x00007f4c04a54000) libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f4c04750000) libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f4c04449000) libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f4c04233000) libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f4c03e6b000) libopencv_imgproc.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.2.4 (0x00007f4c039da000) libopencv_highgui.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4 (0x00007f4c0378f000) libopencv_contrib.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_contrib.so.2.4 (0x00007f4c034ac000) libboost_regex.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.54.0 (0x00007f4c031a4000) libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f4c02f8b000) librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f4c02d83000) libGL.so.1 => /usr/lib/nvidia-367/libGL.so.1 (0x00007f4c02af3000) libtbb.so.2 => /usr/lib/libtbb.so.2 (0x00007f4c028bf000) libmessage_filters.so => /opt/ros/indigo/lib/libmessage_filters.so (0x00007f4c026ba000) libroslib.so => /opt/ros/indigo/lib/libroslib.so (0x00007f4c024a7000) libboost_filesystem.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.54.0 (0x00007f4c02291000) libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007f4c0207c000) libbondcpp.so => /opt/ros/indigo/lib/libbondcpp.so 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(0x00007f4bf7f06000) libXi.so.6 => /usr/lib/x86_64-linux-gnu/libXi.so.6 (0x00007f4bf7cf5000) libXrandr.so.2 => /usr/lib/x86_64-linux-gnu/libXrandr.so.2 (0x00007f4bf7aeb000) libXcursor.so.1 => /usr/lib/x86_64-linux-gnu/libXcursor.so.1 (0x00007f4bf78e1000) libXcomposite.so.1 => /usr/lib/x86_64-linux-gnu/libXcomposite.so.1 (0x00007f4bf76de000) libXdamage.so.1 => /usr/lib/x86_64-linux-gnu/libXdamage.so.1 (0x00007f4bf74da000) libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007f4bf72c8000) libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007f4bf70bf000) libGLU.so.1 => /usr/lib/x86_64-linux-gnu/libGLU.so.1 (0x00007f4bf6e51000) libXmu.so.6 => /usr/lib/x86_64-linux-gnu/libXmu.so.6 (0x00007f4bf6c38000) libpangox-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpangox-1.0.so.0 (0x00007f4bf6a18000) libraw1394.so.11 => /usr/lib/x86_64-linux-gnu/libraw1394.so.11 (0x00007f4bf680a000) libv4l2.so.0 => /usr/lib/x86_64-linux-gnu/libv4l2.so.0 (0x00007f4bf65fc000) libxvidcore.so.4 => /usr/lib/x86_64-linux-gnu/libxvidcore.so.4 (0x00007f4bf62bd000) libx264.so.148 => /usr/lib/x86_64-linux-gnu/libx264.so.148 (0x00007f4bf5f25000) libvpx.so.1 => /usr/lib/x86_64-linux-gnu/libvpx.so.1 (0x00007f4bf5b45000) libvorbisenc.so.2 => /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007f4bf5898000) libvorbis.so.0 => /usr/lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007f4bf5668000) libtheoraenc.so.1 => /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1 (0x00007f4bf5428000) libtheoradec.so.1 => /usr/lib/x86_64-linux-gnu/libtheoradec.so.1 (0x00007f4bf520e000) libspeex.so.1 => /usr/lib/x86_64-linux-gnu/libspeex.so.1 (0x00007f4bf4ff5000) libschroedinger-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libschroedinger-1.0.so.0 (0x00007f4bf4d31000) libopus.so.0 => /usr/lib/x86_64-linux-gnu/libopus.so.0 (0x00007f4bf4ae8000) libopenjpeg.so.2 => /usr/lib/x86_64-linux-gnu/libopenjpeg.so.2 (0x00007f4bf48c6000) libmp3lame.so.0 => /usr/lib/x86_64-linux-gnu/libmp3lame.so.0 (0x00007f4bf4651000) libgsm.so.1 => /usr/lib/x86_64-linux-gnu/libgsm.so.1 (0x00007f4bf4442000) libfdk-aac.so.1 => /usr/lib/x86_64-linux-gnu/libfdk-aac.so.1 (0x00007f4bf4190000) libva.so.1 => /usr/lib/x86_64-linux-gnu/libva.so.1 (0x00007f4bf3f7a000) librtmp.so.0 => /usr/lib/x86_64-linux-gnu/librtmp.so.0 (0x00007f4bf3d5f000) libgnutls.so.26 => /usr/lib/x86_64-linux-gnu/libgnutls.so.26 (0x00007f4bf3aa0000) libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007f4bf388f000) libopencv_flann.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_flann.so.2.4 (0x00007f4bf3625000) libicudata.so.52 => /usr/lib/x86_64-linux-gnu/libicudata.so.52 (0x00007f4bf1db7000) libboost_program_options.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.54.0 (0x00007f4bf1b49000) libpython2.7.so.1.0 => /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 (0x00007f4bf15e4000) libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007f4bf13ab000) libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f4bf1181000) libcgmanager.so.0 => /lib/x86_64-linux-gnu/libcgmanager.so.0 (0x00007f4bf0f65000) libnih.so.1 => /lib/x86_64-linux-gnu/libnih.so.1 (0x00007f4bf0d4d000) libnih-dbus.so.1 => /lib/x86_64-linux-gnu/libnih-dbus.so.1 (0x00007f4bf0b43000) libdbus-1.so.3 => /lib/x86_64-linux-gnu/libdbus-1.so.3 (0x00007f4bf08fd000) libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007f4bf065a000) libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f4bf043a000) libpixman-1.so.0 => /usr/lib/x86_64-linux-gnu/libpixman-1.so.0 (0x00007f4bf0192000) libxcb-shm.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-shm.so.0 (0x00007f4beff8f000) libxcb-render.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-render.so.0 (0x00007f4befd85000) libselinux.so.1 => /lib/x86_64-linux-gnu/libselinux.so.1 (0x00007f4befb62000) libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007f4bef946000) libharfbuzz.so.0 => /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0 (0x00007f4bef6f1000) libthai.so.0 => /usr/lib/x86_64-linux-gnu/libthai.so.0 (0x00007f4bef4e8000) libXt.so.6 => /usr/lib/x86_64-linux-gnu/libXt.so.6 (0x00007f4bef281000) libv4lconvert.so.0 => /usr/lib/x86_64-linux-gnu/libv4lconvert.so.0 (0x00007f4bef008000) libogg.so.0 => /usr/lib/x86_64-linux-gnu/libogg.so.0 (0x00007f4beedfe000) liborc-0.4.so.0 => /usr/lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007f4beeb7c000) libgcrypt.so.11 => /lib/x86_64-linux-gnu/libgcrypt.so.11 (0x00007f4bee8fb000) libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007f4bee6e7000) libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007f4bee4a5000) libutil.so.1 => /lib/x86_64-linux-gnu/libutil.so.1 (0x00007f4bee2a1000) libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007f4bee09d000) libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f4bede96000) libgraphite2.so.3 => /usr/lib/x86_64-linux-gnu/libgraphite2.so.3 (0x00007f4bedc70000) libdatrie.so.1 => /usr/lib/x86_64-linux-gnu/libdatrie.so.1 (0x00007f4beda68000) libSM.so.6 => /usr/lib/x86_64-linux-gnu/libSM.so.6 (0x00007f4bed860000) libICE.so.6 => /usr/lib/x86_64-linux-gnu/libICE.so.6 (0x00007f4bed644000) libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007f4bed43e000)

mdhorn commented 7 years ago

@arpit15 I'm at a loss of what causing this problem for you.

Can you remove that local copy of librealsense? librealsense.so.1 => /home/arpit/ros_wss/exp_ws/devel/.private/librealsense/lib/librealsense.so.1 (0x00007f4c04a54000)

The only places that missing symbol seem to reside are in opencv3 libraries. If you've removed opencv3 packages (or libraries from /usr/local), rebooted, and tried build in a new, clean workspace I'm not sure how this still a problem.

The last things I can suggest is install the 'lddtree' tool and use it to find each shared library and it's dependencies. Then look through all of these libraries to find which one has the offending symbol.

sudo apt-get install pax-utils
lddtree /home/arpit/ros_wss/exp_ws/devel/lib//librealsense_camera_nodelet.so

You could try something like this to collect the list of libraries and search them:

lddtree devel/lib/librealsense_camera_nodelet.so   | awk -F'=> ' '{print $NF}' | grep '/' | tee all_libs.txt
for l in `cat all_libs.txt`; do grep _ZN2cv6String10deallocateEv $l ; done
arpit15 commented 7 years ago

@mdhorn Checking all the following libraries seems to be a lot of work. I will try to install from source on a new computer with all the new libraries to see if it builds on that. Is there a way I could eliminate some of the libraries because the realsense camera works with precompiled libraries. The whole motive of me trying to compile from source is to get the stream continously. Is there a way to solve the issue in this thread without compiling from source?

lddtree devel/lib/librealsense_camera_nodelet.so | awk -F'=> ' '{print $NF}' | grep '/' | tee all_libs.txt for l incat all_libs.txt; do grep _ZN2cv6String10deallocateEv $l ; done

outputs the following thing

scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so scanelf: rpath_security_checks(): Security problem NULL DT_RPATH in devel/lib/librealsense_camera_nodelet.so /opt/ros/indigo/lib/libcv_bridge.so /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.2.4 /usr/lib/libtbb.so.2 /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4 /usr/lib/nvidia-367/libGL.so.1 /lib/i386-linux-gnu/libdl.so.2 /lib/i386-linux-gnu/ld-linux.so.2 /usr/lib/nvidia-367/libGLX.so.0 /usr/lib/i386-linux-gnu/libX11.so.6 /usr/lib/i386-linux-gnu/libxcb.so.1 /usr/lib/i386-linux-gnu/libXau.so.6 /usr/lib/i386-linux-gnu/libXdmcp.so.6 /usr/lib/i386-linux-gnu/libXext.so.6 /usr/lib/nvidia-367/libGLdispatch.so.0 /usr/lib/x86_64-linux-gnu/libjpeg.so.8 /lib/i386-linux-gnu/libpng12.so.0 /lib/i386-linux-gnu/libz.so.1 /usr/lib/x86_64-linux-gnu/libtiff.so.5 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mdhorn commented 7 years ago

@arpit15 Okay, let's drop the discussion of building from source on your system.

As for fixing the streaming problem for RGBD, please try the latest release 1.8.0. It has been released to the ROS Build Farm, but just missed the last package sync yesterday so it will be about 2 weeks before it is in the public ROS repository.

1.8.0 is available in Shadow Repository, but I'm attaching the package to this Issue so you can just download and install it without switching to the Shadow Repository. ros-indigo-realsense-camera-180.zip First, unzip the file: unzip ros-indigo-realsense-camera-180.zip Then install the newer release of realsense-camera: sudo dpkg -i ros-indigo-realsense-camera_1.8.0-0trusty-20170403-142612-0700_amd64.deb

arpit15 commented 7 years ago

@mdhorn Thank you. Everything seems to be fine with the new code version.

mdhorn commented 7 years ago

@arpit15 very good to hear!

arpit15 commented 7 years ago

@mdhorn The stream is freezing again. I am obtaining the following error. [ERROR] [1491598159.515880658]: /camera/driver - Error calling rs_wait_for_frames ( device:0x31f8018 ): Timeout waiting for frames.

AndyZe commented 7 years ago

I was having the same problem of an R200 crashing after about 20 minutes when the queue size was 10k. It crashed sooner with a smaller queue size. But the exact_sync option that @mdhorn mentioned seems to have solved it. I am using a recent debian (installed ~4/30/2017).

arpit15 commented 7 years ago

@AndyZe I can't find the exact_sync option in file sr300_nodelet_rgbd.launch. I am using realsense_camera version 1.8.0 on ROS indigo. Kindly let me know where should I put this parameter in.

Thanks Arpit

arpit15 commented 7 years ago

@AndyZe @mdhorn It seems that the ram requirement for the nodelet keeps on increasing until my computer runs out of ram. This leads to closing of the roslaunch file. I was able to run the node longer(110k frames received in rviz) by closing everything else. In the starting the node just takes 0.5GB of ram and then grows upto 30GB. Kindly suggest a way around this. I don't understand why does the RAM requirements keeps on increasing for the nodelet.

Thanks Arpit