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Intermodalics / tango_ros

ROS related software for Tango
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ROS connects but java runtime exception occurs #384

Closed dan9thsense closed 6 years ago

dan9thsense commented 6 years ago

I also posted this at https://answers.ros.org/question/279027/tango-ros-streamer-fail/

I installed tango_ros_streamer from the play store, following the instructions here: http://wiki.ros.org/tango_ros_streamer

The app loaded and connected to the roscore on my main computer and the ROS indicator turned green. However, the tango indicator is yellow and I am not seeing any data other than in the /android/IMU topic, which is publishing normally. The log indicates a Java runtime exception after "ROS CONNECTION latch released!"

Here are the topics that exist:

/android/imu

/rosout

/rosout_agg

/tango/status Here are the nodes that exist:

/android

/parameter_node

/rosout

/tango_service_client_node Here is the tango log file (192.168.1.62 is the correct address for the tango):

ed: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</parameter_node, http://192.168.1.62:33283/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/Registrar( 4394): Response<Success, Success, []> I/Registrar( 4394): Response<Success, Success, []> I/DefaultPublisher( 4394): Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</tango_service_client_node, http://192.168.1.62:38113/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/DefaultPublisher( 4394): Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</android, http://192.168.1.62:56484/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/Registrar( 4394): Registering subscriber: Subscriber<Topic<TopicIdentifier</tango/status>, TopicDescription<std_msgs/Int8, 27ffa0c9c4b8fb8492252bcad9e5c57b>>> I/Registrar( 4394): Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</android, http://192.168.1.62:56484/>, TopicIdentifier</android/imu>>, Topic<TopicIdentifier</android/imu>, TopicDescription<sensor_msgs/Imu, 6a62c6daae103f4ff57a132d6f95cec2>>>> I/Registrar( 4394): Response<Success, Success, []> I/Registrar( 4394): Response<Success, Success, []> I/DefaultPublisher( 4394): Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</android, http://192.168.1.62:56484/>, TopicIdentifier</android/imu>>, Topic<TopicIdentifier</android/imu>, TopicDescription<sensor_msgs/Imu, 6a62c6daae103f4ff57a132d6f95cec2>>>> I/RunningActivity( 5105): initAndStartRosJavaNode I/RunningActivity( 5105): Waiting for ROS CONNECTION latch release... I/RunningActivity( 5105): ROS CONNECTION latch released! E/RunningActivity( 5105): Uncaught exception of type class java.lang.RuntimeException I/Registrar( 5105): MasterXmlRpcEndpoint URI: http://192.168.1.62:11311/ I/Registrar( 5105): MasterXmlRpcEndpoint URI: http://192.168.1.62:11311/ I/Registrar( 5105): MasterXmlRpcEndpoint URI: http://192.168.1.62:11311/ I/Registrar( 5105): Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</android, http://192.168.1.62:57114/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/Registrar( 5105): Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</tango_service_client_node, http://192.168.1.62:55304/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/Registrar( 5105): Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</parameter_node, http://192.168.1.62:51005/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/Registrar( 5105): Response<Success, Success, []> I/Registrar( 5105): Response<Success, Success, []> I/Registrar( 5105): Response<Success, Success, []> I/DefaultPublisher( 5105): Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</parameter_node, http://192.168.1.62:51005/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/DefaultPublisher( 5105): Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</android, http://192.168.1.62:57114/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/DefaultPublisher( 5105): Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</tango_service_client_node, http://192.168.1.62:55304/>, TopicIdentifier>, Topic<TopicIdentifier, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>> I/Registrar( 5105): Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier ...

PerrineAguiar commented 6 years ago

Hi @dan9thsense Which device are you using? Are you using the latest version of the app (v1.3.1)? What are the settings of the app? It seems that Tango is not starting properly, is it staying orange forever or does it turn red at one point?

dan9thsense commented 6 years ago

Sorry for the delay in responding-- I was traveling. I am using the Tango Development device, Android version 4.4.2, Kernal version 3.10.24-gd25b167, build number KOT49H.161129 I am using the app version 1.3.1 Settings: Run local master is OFF Master URI is correct, as I am able to connect to the master on the laptop (http://192.168.1.228:11311) Create a new localization map is ON Enable depth camera is ON Enable color camera is OFF Autostart is OFF

The ROS light starts red and turns green. The Tango light stays yellow forever.

Appreciate the help.

PerrineAguiar commented 6 years ago

Hi Thanks for giving more details.

I could reproduce your issue on a Tango Development device. Here is the output of adb logcat:

I/master_checker( 8622): Connected!
I/RunningActivity( 8622): ROS CONNECTION latch released!
I/TangoInitializationHelp( 8622): basePath: /data/data/com.google.tango/libfiles/
E/art     ( 8622): dlopen("/data/data/com.google.tango/libfiles/arm64-v8a/libtango_client_api.so", RTLD_LAZY) failed: dlopen failed: library "/data/data/com.google.tango/libfiles/arm64-v8a/libtango_client_api.so" not found
E/TangoInitializationHelp( 8622): java.lang.UnsatisfiedLinkError: dlopen failed: library "/data/data/com.google.tango/libfiles/arm64-v8a/libtango_client_api.so" not found
I/TangoInitializationHelp( 8622): Success! Using armeabi-v7a/libtango_client_api.
E/art     ( 8622): dlopen("/data/app-lib/eu.intermodalics.tango_ros_streamer-1/libnodelet_manager.so", RTLD_LAZY) failed: dlopen failed: could not load library "libtango_3d_reconstruction.so" needed by "libnodelet_manager.so"; caused by cannot locate symbol "rand" referenced by "libtango_3d_reconstruction.so"...
E/RunningActivity( 8622): Uncaught exception of type class java.lang.RuntimeException
W/System.err( 8622): java.lang.RuntimeException: An error occured while executing doInBackground()
W/System.err( 8622):    at android.os.AsyncTask$3.done(AsyncTask.java:300)
W/System.err( 8622):    at java.util.concurrent.FutureTask.finishCompletion(FutureTask.java:355)
W/System.err( 8622):    at java.util.concurrent.FutureTask.setException(FutureTask.java:222)
W/System.err( 8622):    at java.util.concurrent.FutureTask.run(FutureTask.java:242)
W/System.err( 8622):    at android.os.AsyncTask$SerialExecutor$1.run(AsyncTask.java:231)
W/System.err( 8622):    at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1112)
W/System.err( 8622):    at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:587)
W/System.err( 8622):    at java.lang.Thread.run(Thread.java:811)
W/System.err( 8622): Caused by: java.lang.UnsatisfiedLinkError: dlopen failed: could not load library "libtango_3d_reconstruction.so" needed by "libnodelet_manager.so"; caused by cannot locate symbol "rand" referenced by "libtango_3d_reconstruction.so"...
W/System.err( 8622):    at java.lang.Runtime.loadLibrary(Runtime.java:364)
W/System.err( 8622):    at java.lang.System.loadLibrary(System.java:526)
W/System.err( 8622):    at eu.intermodalics.nodelet_manager.TangoInitializationHelper.loadTangoRosNodeSharedLibrary(TangoInitializationHelper.java:190)
W/System.err( 8622):    at eu.intermodalics.tango_ros_streamer.activities.RunningActivity.init(RunningActivity.java:764)
W/System.err( 8622):    at eu.intermodalics.tango_ros_streamer.activities.RunningActivity$17.doInBackground(RunningActivity.java:865)
W/System.err( 8622):    at eu.intermodalics.tango_ros_streamer.activities.RunningActivity$17.doInBackground(RunningActivity.java:862)
W/System.err( 8622):    at android.os.AsyncTask$2.call(AsyncTask.java:288)
W/System.err( 8622):    at java.util.concurrent.FutureTask.run(FutureTask.java:237)
W/System.err( 8622):    ... 4 more

The important part is:
__E/art ( 8622): dlopen("/data/app-lib/eu.intermodalics.tango_ros_streamer-1/libnodelet_manager.so", RTLD_LAZY) failed: dlopen failed: could not load library "libtango_3d_reconstruction.so" needed by "libnodelet_manager.so"; caused by cannot locate symbol "rand" referenced by "libtango_3d_reconstruction.so"...__

I don't have the time to look more into it, but I suspect it's because the Tango Development device is running an old version of Android. Moreover it is not supported by Tango anymore. The two devices supported by Tango are now: Lenovo Phab 2 Pro Asus ZenFone AR

The best solution would be to get one of these devices. Otherwise, if you don't need the functionality of Tango 3D Reconstruction, you can try to remove the code where tango_3d_reconstruction is used and build the app from source.

Hope this helps.

dan9thsense commented 6 years ago

Thanks for looking into it. I hoped that I finally found a use for that Tango device, as it never lived up to the hype. All I wanted to do was make bag files to use with maplab, but it is too much trouble to edit the source code and try to build it.

jubeira commented 6 years ago

@dan9thsense have you tried an older APK version? If I remember correctly older versions didn't have those features, so they may work with the Tango development kit, and you won't need to build the app from source. Go to https://github.com/Intermodalics/tango_ros/releases and try one of the older APKs; install them using ADB. to your Tango device.

dan9thsense commented 6 years ago

That's a good idea. Do you have a suggestion for which older version to try first?

jubeira commented 6 years ago

The second release could be a good starting point: https://github.com/Intermodalics/tango_ros/releases/tag/v1.0-15. I remember using it with Tango development kit. If you need more features you can try some newer versions.

dan9thsense commented 6 years ago

That release almost works. It comes up with both the ROS and Tango lights green, but then the Tango light turns red. The log says: Successfully connected to Tango Then the next two lines are: tango_ros_node:388 Error, could not get a first valid Pose tango_ros_util.cpp:62 Could not connect to the Tango service.

PerrineAguiar commented 6 years ago

@dan9thsense I tested the old release pointed by @jubeira on a Tango Development device and it works fine.

Can you try again and be sure to point the camera of the device to a "feature rich environment" (e.g. pointing at your surroundings, not lying on a table). That could be an issue, since the app needs a first valid pose.

Also, in this version of the app, to receive data on topics, you should enable each type of data you want from the navigation drawer (press the menu icon on the right corner).

dan9thsense commented 6 years ago

Thanks for investigating this. I will try that on Monday, as I am traveling this week. The camera was just pointing at a wall, so perhaps that is the issue.

dan9thsense commented 6 years ago

Good news! That fixed it-- data and images are coming through.

Thanks for your time and persistence to address this issue. You have resurrected my Tango device and, for the first time, it will be a useful device.

tim-fan commented 6 years ago

Hello, thanks for the above info - I have got my hands on a spare Tango development device (Yellowstone tablet, same android/kernel/tango-core version as dan9thsense's), and with the help of this thread I have been able to get it publishing to ROS. Thanks!

Worth noting - I have tried some more recent releases of the streamer app, and found that all versions work from 1.0-15 up to and including 1.3.0. It looks like it was the 1.3.1 changes which broke the app for the yellowstone tablet.

This makes sense, as the release notes mention changes for supporting tango core m20, while the last tango core release that supported the yellowstone tablet was Hopak.

So I'd recommend future people trying to run tango_ros_streamer on a yellowstone tablet stick to release 1.3.0 (https://github.com/Intermodalics/tango_ros/releases/tag/v1.3.0)