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PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.
http://px4.io
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Failed to load nodelet [/camera/points_xyz_sw_registered] #251

Closed moonlive closed 5 years ago

moonlive commented 5 years ago

Hello every one.

I try avoidance function as TX2 and PX4.

Companion PC : Jetson TX2 Camera : Intel Realsense D435 OS :Ubuntu 16.04 ROS : ros-kinetic-ros-base mavros version : 0.29.0 cmake version : 3.13.4 Realsense SDK 2.0

I ran roslaunch as below. roslaunch local_planner avoidance.launch fcu_url:=/dev/ttyTHS2:921600 FC is connected by ttyTHS2 serial port.

It has fail to load nodelet /camera/points_xyz_sw_registered. I don't know what can i do for resolve it.

Help me plz.

message is below.

started roslaunch server http://tegra-ubuntu:43328/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /camera/ points_xyz_sw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / local_planner_node (local_planner/local_planner_node) mavros (mavros/mavros_node) set_RS_param (local_planner/realsense_params.sh) tf_90_deg (tf/static_transform_publisher) tf_camera (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[tf_90_deg-1]: started with pid [17369] process[mavros-2]: started with pid [17370] process[tf_camera-3]: started with pid [17377] process[camera/realsense2_camera_manager-4]: started with pid [17382] process[camera/realsense2_camera-5]: started with pid [17396] process[camera/points_xyz_sw_registered-6]: started with pid [17401] process[local_planner_node-7]: started with pid [17408] process[set_RS_param-8]: started with pid [17414] [ INFO] [1552561286.630562062]: Initializing nodelet with 4 worker threads. [ INFO] [1552561286.784579004]: RealSense ROS v2.2.1 [ INFO] [1552561286.784773403]: Running with LibRealSense v2.19.1 [ INFO] [1552561286.798417069]: FCU URL: /dev/ttyTHS2:921600 [ INFO] [1552561286.802006584]: serial0: device: /dev/ttyTHS2 @ 921600 bps [ INFO] [1552561286.816759332]: GCS bridge disabled [ INFO] [1552561286.864532658]: Plugin 3dr_radio loaded [ INFO] [1552561286.873625246]: Plugin 3dr_radio initialized [ INFO] [1552561286.873827421]: Plugin actuator_control loaded [ INFO] [1552561286.889846401]: Plugin actuator_control initialized [ INFO] [1552561286.900533028]: Plugin adsb loaded [ INFO] [1552561286.929399615]: Plugin adsb initialized [ INFO] [1552561286.930034043]: Plugin altitude loaded [ INFO] [1552561286.939788963]: Plugin altitude initialized [ INFO] [1552561286.940069666]: Plugin cam_imu_sync loaded [ INFO] [1552561286.944956198]: Plugin cam_imu_sync initialized [ INFO] [1552561286.945364899]: Plugin command loaded [ INFO] [1552561287.006483781]: Plugin command initialized [ INFO] [1552561287.006801124]: Plugin companion_process_status loaded

[ INFO] [1552561287.042963060]: Plugin companion_process_status initialized [ INFO] [1552561287.043243603]: Plugin debug_value loaded [ INFO] [1552561287.101281991]: Plugin debug_value initialized [ INFO] [1552561287.101502213]: Plugin distance_sensor blacklisted [ INFO] [1552561287.101777476]: Plugin fake_gps loaded [ INFO] [1552561287.189723084]: Plugin fake_gps initialized [ INFO] [1552561287.190014634]: Plugin ftp loaded [ INFO] [1552561287.251128173]: Plugin ftp initialized [ INFO] [1552561287.251447339]: Plugin global_position loaded [ INFO] [1552561287.387055458]: Plugin global_position initialized [ INFO] [1552561287.387314305]: Plugin gps_rtk loaded [ INFO] [1552561287.413954344]: Plugin gps_rtk initialized [ INFO] [1552561287.414262342]: Plugin hil loaded [ INFO] [1552561287.572299358]: Plugin hil initialized [ INFO] [1552561287.572598012]: Plugin home_position loaded [ INFO] [1552561287.617362108]: Plugin home_position initialized [ INFO] [1552561287.617714874]: Plugin imu loaded

[ INFO] [1552561287.681787403]: Plugin imu initialized [ INFO] [1552561287.682195944]: Plugin local_position loaded [ INFO] [1552561287.733105317]: Plugin local_position initialized [ INFO] [1552561287.733431811]: Plugin log_transfer loaded [ INFO] [1552561287.741313238]: Plugin log_transfer initialized [ INFO] [1552561287.741609716]: Plugin manual_control loaded [ INFO] [1552561287.751612059]: Plugin manual_control initialized [ INFO] [1552561287.751960921]: Plugin mocap_pose_estimate loaded [ INFO] [1552561287.768685273]: Plugin mocap_pose_estimate initialized [ INFO] [1552561287.768963160]: Plugin obstacle_distance loaded [ INFO] [1552561287.780880051]: Plugin obstacle_distance initialized [ INFO] [1552561287.781143442]: Plugin odom loaded [ INFO] [1552561287.805799813]: Plugin odom initialized [ INFO] [1552561287.806101347]: Plugin param loaded [ INFO] [1552561287.815655020]: Plugin param initialized [ INFO] [1552561287.815915499]: Plugin px4flow loaded [ INFO] [1552561287.843311342]: Plugin px4flow initialized [ INFO] [1552561287.843407981]: Plugin rangefinder blacklisted [ INFO] [1552561287.843683980]: Plugin rc_io loaded [ INFO] [1552561287.855882150]: Plugin rc_io initialized [ INFO] [1552561287.855977669]: Plugin safety_area blacklisted [ INFO] [1552561287.856276804]: Plugin setpoint_accel loaded [ INFO] [1552561287.872352360]: Plugin setpoint_accel initialized [ INFO] [1552561287.872694150]: Plugin setpoint_attitude loaded [ INFO] [1552561287.907417279]: Plugin setpoint_attitude initialized [ INFO] [1552561287.907774749]: Plugin setpoint_position loaded [ INFO] [1552561287.955777098]: Plugin setpoint_position initialized [ INFO] [1552561287.956087688]: Plugin setpoint_raw loaded [ INFO] [1552561287.985655935]: Plugin setpoint_raw initialized [ INFO] [1552561287.985982301]: Plugin setpoint_velocity loaded [ INFO] [1552561287.992607287]: JSON file is loaded! (/home/nvidia/catkin_ws/src/avoidance/local_planner/resource/stereo_calib.json) [ INFO] [1552561287.992711958]: ROS Node Namespace: camera [ INFO] [1552561287.992796310]: Device Name: Intel RealSense D435 [ INFO] [1552561287.992837398]: Device Serial No: 832112073135 [ INFO] [1552561287.992880117]: Device FW version: 05.11.01.00 [ INFO] [1552561287.992921749]: Device Product ID: 0x0B07 [ INFO] [1552561287.992954293]: Enable PointCloud: Off [ INFO] [1552561287.992986901]: Align Depth: Off [ INFO] [1552561287.993020757]: Sync Mode: On [ INFO] [1552561287.993333523]: Device Sensors: [ INFO] [1552561287.993454034]: Stereo Module was found. [ INFO] [1552561287.993528306]: RGB Camera was found. [ INFO] [1552561287.993629937]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1552561287.993676625]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1552561287.993711665]: (Pose, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1552561288.002450271]: Expected frequency for depth = 5.00000 [ INFO] [1552561288.011866313]: Expected frequency for infra1 = 30.00000 [ INFO] [1552561288.012747364]: Plugin setpoint_velocity initialized [ INFO] [1552561288.013131009]: Plugin sys_status loaded [ INFO] [1552561288.024391297]: Expected frequency for infra2 = 30.00000 [ INFO] [1552561288.034265384]: Expected frequency for color = 30.00000

[ INFO] [1552561288.071022262]: Plugin sys_status initialized [ INFO] [1552561288.071387316]: Plugin sys_time loaded [ INFO] [1552561288.086020480]: TM: Timesync mode: MAVLINK [ INFO] [1552561288.089440749]: Plugin sys_time initialized [ INFO] [1552561288.089707755]: Plugin trajectory loaded [ INFO] [1552561288.111769805]: Plugin trajectory initialized [ INFO] [1552561288.112072715]: Plugin vfr_hud loaded [ INFO] [1552561288.114419870]: Plugin vfr_hud initialized [ INFO] [1552561288.114512893]: Plugin vibration blacklisted [ INFO] [1552561288.114729948]: Plugin vision_pose_estimate loaded [ INFO] [1552561288.136058594]: Plugin vision_pose_estimate initialized [ INFO] [1552561288.136309376]: Plugin vision_speed_estimate loaded [ INFO] [1552561288.145848554]: Plugin vision_speed_estimate initialized [ INFO] [1552561288.146142696]: Plugin waypoint loaded [ INFO] [1552561288.156859755]: Plugin waypoint initialized [ INFO] [1552561288.156945962]: Plugin wheel_odometry blacklisted [ INFO] [1552561288.157269032]: Plugin wind_estimation loaded [ INFO] [1552561288.159448316]: Plugin wind_estimation initialized [ INFO] [1552561288.159561819]: Autostarting mavlink via USB on PX4 [ INFO] [1552561288.159647195]: Built-in SIMD instructions: ARM NEON [ INFO] [1552561288.159807386]: Built-in MAVLink package version: 2019.2.2 [ INFO] [1552561288.159869849]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1552561288.159923161]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1552561288.266417751]: IMU: Attitude quaternion IMU detected! [ INFO] [1552561288.266726197]: IMU: High resolution IMU detected! [ WARN] [1552561288.267085267]: GP: No GPS fix [ INFO] [1552561288.473449430]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1552561288.498108009]: IMU: High resolution IMU detected! [ INFO] [1552561288.540749876]: IMU: Attitude quaternion IMU detected! 14/03 11:01:28,693 WARNING [548029104128] (sensor.cpp:366) Unregistered Media formats : [ UYVY ]; Supported: [ ] [ WARN] [1552561288.696775575]: Given stream configuration is not supported by the device! Stream: Depth, Stream Index: 0, Width: 640, Height: 480, FPS: 5 [ INFO] [1552561288.697375476]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ WARN] [1552561288.697527123]: Given stream configuration is not supported by the device! Stream: Infrared, Stream Index: 2, Width: 640, Height: 480, FPS: 30 [ INFO] [1552561288.701479676]: color stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1552561288.705318406]: insert Color to RGB Camera [ INFO] [1552561288.705441893]: insert Infrared to Stereo Module 14/03 11:01:29,061 WARNING [547552039312] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. [ WARN] [1552561289.084549611]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) [ WARN] [1552561289.486707116]: TM : RTT too high for timesync: 96.72 ms. Waiting for service /camera/realsense2_camera_manager/set_parameters... [ INFO] [1552561289.699710184]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1552561289.699835432]: VER: 1.1: Flight software: 01090080 (18f7ee2d50dc4504) [ INFO] [1552561289.700001799]: VER: 1.1: Middleware software: 01090080 (18f7ee2d50dc4504) [ INFO] [1552561289.700221446]: VER: 1.1: OS software: 071c00ff (ffd37a0175352697) [ INFO] [1552561289.700624163]: VER: 1.1: Board hardware: 00000011 [ INFO] [1552561289.700880290]: VER: 1.1: VID/PID: 26ac:0011 [ INFO] [1552561289.700924610]: VER: 1.1: UID: 3337510d37353832 [ WARN] [1552561289.701089089]: CMD: Unexpected command 520, result 0 [ INFO] [1552561289.703609266]: num_filters: 0 [ INFO] [1552561289.703731889]: SELECTED BASE:Depth, 0 [ INFO] [1552561289.705138889]: RealSense Node Is Up! [ INFO] [1552561289.705206377]: Setting Dynamic reconfig parameters. [ INFO] [1552561289.797297722]: Done Setting Dynamic reconfig parameters. 14/03 11:01:29,862 WARNING [547465720208] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. *[ERROR] [1552561289.865079894]: Failed to load nodelet [/camera/points_xyz_sw_registered] of type [camera/point_cloud_xyz] even after refreshing the cache: According to the loaded plugin descriptions the class camera/point_cloud_xyz with base class type nodelet::Nodelet does not exist. Declared types are octomap_server/OctomapServerNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory [ERROR] [1552561289.865197909]: The error before refreshing the cache was: According to the loaded plugin descriptions the class camera/point_cloud_xyz with base class type nodelet::Nodelet does not exist. Declared types are octomap_server/OctomapServerNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory [FATAL] [1552561289.865772562]: Failed to load nodelet '/camera/points_xyz_sw_registeredof typecamera/point_cloud_xyzto managerrealsense2_camera_manager' [camera/points_xyz_sw_registered-6] process has died [pid 17401, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load camera/point_cloud_xyz realsense2_camera_manager false camera_info:=depth/camera_info image_rect:=depth/image_rect_raw points:=depth/points __name:=points_xyz_sw_registered __log:=/home/nvidia/.ros/log/734f52ce-4627-11e9-823d-7648a5a30a5c/camera-points_xyz_sw_registered-6.log]. log file: /home/nvidia/.ros/log/734f52ce-4627-11e9-823d-7648a5a30a5c/camera-points_xyz_sw_registered-6.log** Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty at line 126 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty at line 126 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp

What can i do for solving nodelet errors? Please show me the solving way or clue. Thanks.

baumanta commented 5 years ago

I would do the following to debug:

In general, the RS cameras seem to have some issues. So you might need to power cycle them sometimes...

moonlive commented 5 years ago

@baumanta Thank you for your reply.

I did roslaunch relsense2_camera rs_rgbd.launch and got the message like below.

nvidia@tegra-ubuntu:~/catkin_ws$ roslaunch realsense2_camera rs_rgbd.launch ... logging to /home/nvidia/.ros/log/aecda338-4798-11e9-962a-00044bc5cb2d/roslaunch-tegra-ubuntu-18699.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.

Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/init.py", line 306, in main p.start() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start self._start_infrastructure() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure self._load_config() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default loader.load(f, config, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 749, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 721, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 655, in _recurse_load default_machine, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 685, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 589, in _include_tag inc_filename = self.resolve_args(tag.attributes['file'].value, context) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args resolved = _resolve_args(resolved, context, resolve_anon, commands) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args resolved = commands[command](resolved, a, args, context) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find source_path_to_packages=source_path_to_packages) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable full_path = _get_executable_path(rp.get_path(args[0]), path) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths) ResourceNotFound: rgbd_launch ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/nvidia/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share ROS path [3]=/opt/ros/kinetic/share ROS path [4]=/home/nvidia/catkin_ws/src/disparity_to_point_cloud ROS path [5]=/home/nvidia/catkin_ws/src/mavlink ROS path [6]=/home/nvidia/catkin_ws/src/mavros ROS path [7]=/home/nvidia/catkin_ws/src/realsense-2.2.1

I think ResourceNotFound: rgbd_launch is the reasone of this problem. right? Almost working python files are /opt/ros/kinetic/lib/python2.7/dist-packages/ but last one is /usr/lib/python2.7/dist-packages/rospkg/. Is it problem?

What can i do for fix it? Thank you.

Jaeyoung-Lim commented 5 years ago

@moonlive You seem to be missing rgbd_launch Have you tried installing it?

apt install ros-kinetic-rgbd-launch
moonlive commented 5 years ago

Thank you @Jaeyoung-Lim. It dosen't install. I make install and check the error message is gone. But I don't know whether it work well or not. I didn't check "[OA] Planning started, using 1 camera" message. Below "UVC metadata payloads not available" message is the cause ? I attach log message. Please check.

[ INFO] [1552803133.991114057]: insert Depth to Stereo Module [ INFO] [1552803133.991304615]: insert Color to RGB Camera [ INFO] [1552803133.991388486]: insert Infrared to Stereo Module [ INFO] [1552803133.991440134]: insert Infrared to Stereo Module 17/03 15:12:14,564 WARNING [547734155664] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. [ WARN] [1552803134.594367584]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) [ INFO] [1552803136.912664958]: Add Filter: pointcloud [ INFO] [1552803136.924087481]: num_filters: 1 [ INFO] [1552803136.924203000]: SELECTED BASE:Depth, 0 [ INFO] [1552803136.929215244]: RealSense Node Is Up! [ INFO] [1552803136.929302731]: Setting Dynamic reconfig parameters. [ INFO] [1552803136.962052810]: Done Setting Dynamic reconfig parameters. 17/03 15:12:17,018 WARNING [547686338960] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.

Jaeyoung-Lim commented 5 years ago

@moonlive What do you mean it doesn't install? Does ros-kinetic-rgbd-launch not get installed?

mrivi commented 5 years ago

rs_rgbd.launch is a launch file in the realsense2_camera package. (https://github.com/intel-ros/realsense/blob/development/realsense2_camera/launch/rs_rgbd.launch)

@moonlive please make sure that you have built that package (catkin build realsense2_camera) and that you have sourced your catkin environment (source ~/catkin_ws/devel/setup.bash)

EDIT I see that you have it in the ROS_PACKAGE_PATH

ROS path [7]=/home/nvidia/catkin_ws/src/realsense-2.2.1

Could you try to ls the launch folder inside realsense-2.2.1 and check that rs_rgbd.launch is present. The path to the launch folder is likely to be ls /home/nvidia/catkin_ws/src/realsense-2.2.1/realsense2_camera/launch

moonlive commented 5 years ago

Hello @Jaeyoung-Lim I mean.. I didn't install ros-kinetic-rgbd-launch. So i install it as your advice and dispared the error message. But i don't know it works well. 한국분이신것 같아 다시 간단하게, 설치 하지 않았었구요 설치후에 그 에러 메시지가 사라진것 확인 했습니다. 하지만 여전히 제대로 동작 하는것 같지는 않네요. 감사합니다.

moonlive commented 5 years ago

Hello @mrivi Situation changed after I installed ros-kinetic-rgbd-launch. When I run avoidance.launch and rs_rgbd.launch, I get the same warning message. The message is Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME).

moonlive commented 5 years ago

Hello everyone.

I found https://github.com/freemanlo/librealsense. What is different with https://github.com/intel-ros/librealsense-release? Could I use https://github.com/freemanlo/librealsense for jetson?

Thank you.

mrivi commented 5 years ago

@moonlive It's a fork of the official intel repository

Could you share the entire output of avoidance.launch or rs_rgbd.launch ?

moonlive commented 5 years ago

@mrivi I'm sorry. I tring reinstall evironmets of my TX2 now. I will upload log after finish work it.

moonlive commented 5 years ago

Hi @mrivi

I tried install environments again. output of 'roslaunch realsense2_camera rs_rgbd.launch'

... logging to /home/nvidia/.ros/log/e54b3d0c-4a50-11e9-b664-00044bc5cb2d/roslaunch-tegra-ubuntu-28459.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.

started roslaunch server http://tegra-ubuntu:46611/

SUMMARY

PARAMETERS

NODES /camera/ color_rectify_color (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

auto-starting new master process[master]: started with pid [28469] ROS_MASTER_URI=http://localhost:11311

setting /run_id to e54b3d0c-4a50-11e9-b664-00044bc5cb2d process[rosout-1]: started with pid [28482] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [28499] process[camera/realsense2_camera-3]: started with pid [28500] process[camera/color_rectify_color-4]: started with pid [28501] process[camera/points_xyzrgb_hw_registered-5]: started with pid [28503] [ INFO] [1553004693.291876088]: Initializing nodelet with 4 worker threads. [ INFO] [1553004693.434809880]: RealSense ROS v2.0.3 [ INFO] [1553004693.434887447]: Running with LibRealSense v2.13.0

[ INFO] [1553004693.724810332]: JSON file is not provided [ INFO] [1553004693.724884667]: ROS Node Namespace: camera [ INFO] [1553004693.724951834]: Device Name: Intel RealSense D435 [ INFO] [1553004693.724999033]: Device Serial No: 832112073135 [ INFO] [1553004693.725047033]: Device FW version: 05.11.01.100 [ INFO] [1553004693.725092952]: Device Product ID: 0x0B07 [ INFO] [1553004693.725132055]: Enable PointCloud: Off [ INFO] [1553004693.725170519]: Align Depth: On [ INFO] [1553004693.725207702]: Sync Mode: On [ INFO] [1553004693.725442931]: Device Sensors: [ INFO] [1553004693.725548657]: Stereo Module was found. [ INFO] [1553004693.725599632]: RGB Camera was found. [ INFO] [1553004693.725695215]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1553004693.725780398]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1553004693.725822957]: (Accel, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1553004693.732772102]: Expected frequency for depth = 30.00000 [ INFO] [1553004693.740050107]: Expected frequency for infra1 = 30.00000 [ INFO] [1553004693.744256381]: Expected frequency for aligned_depth_to_infra1 = 30.00000 [ INFO] [1553004693.748955415]: Expected frequency for infra2 = 30.00000 [ INFO] [1553004693.753140633]: Expected frequency for aligned_depth_to_infra2 = 30.00000 [ INFO] [1553004693.757581176]: Expected frequency for color = 30.00000 [ INFO] [1553004693.763128646]: Expected frequency for aligned_depth_to_color = 30.00000

19/03 14:11:33,787 WARNING [548123746304] (sensor.cpp:329) Unregistered Media formats : [ UYVY ]; Supported: [ ] [ INFO] [1553004693.794933200]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1553004693.795620358]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1553004693.796245309]: infra2 stream is enabled - width: 640, height: 480, fps: 30 19/03 14:11:33,801 WARNING [548123746304] (backend-v4l2.cpp:1160) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! 19/03 14:11:33,803 WARNING [548123746304] (sensor.cpp:329) Unregistered Media formats : [ RW16 ]; Supported: [ ] [ INFO] [1553004693.817814590]: color stream is enabled - width: 640, height: 480, fps: 30

[ INFO] [1553004694.047896503]: RealSense Node Is Up! 19/03 14:11:34,072 WARNING [547601240464] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. [ WARN] [1553004694.082585751]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) 19/03 14:11:34,220 WARNING [547590377872] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. 19/03 14:11:34,561 ERROR [548123746304] (types.h:179) xioctl(VIDIOC_S_CTRL) failed Last Error: Numerical result out of range [ WARN] [1553004694.561898543]: Reconfigure callback failed with exception xioctl(VIDIOC_S_CTRL) failed Last Error: Numerical result out of range:

mrivi commented 5 years ago

@moonlive What kernel version do you have? Have a look at what's suggested here https://github.com/IntelRealSense/librealsense/issues/2029

moonlive commented 5 years ago

@mrivi kernel version is 4.4.38-tegra

I did reboot and retry the launch. Frame metadata isn't available! message was gone. Now is last only one warning message it Unregistered Media formats : [ UYVY ]; Supported: [ ]

mrivi commented 5 years ago

@moonlive From your output that seems to be a warning. Can you check if you get a point cloud or depth image in Rviz? If you don't, try relaunching the launch file several times and also powercycling the realsense. My experience is that the camera node fails more times than it works.

moonlive commented 5 years ago

@mrivi Yes I can see images as rs-pointcloud I did try many times turn off-on camera but can not go further.

Could it cause of problem? Enable PointCloud: Off Align Depth: Off

local_planner node is not work. My ROS is ros-kinetic-desktop. Could I install ros-kinetic-desktop-full ?

[ INFO] [1553070463.397602996]: ROS Node Namespace: camera [ INFO] [1553070463.397718650]: Device Name: Intel RealSense D435 [ INFO] [1553070463.397791585]: Device Serial No: 832112073135 [ INFO] [1553070463.397866279]: Device FW version: 05.09.09.02 [ INFO] [1553070463.397931252]: Device Product ID: 0x0B07 [ INFO] [1553070463.397985706]: Enable PointCloud: Off [ INFO] [1553070463.398040703]: Align Depth: Off [ INFO] [1553070463.398100432]: Sync Mode: On [ INFO] [1553070463.399400219]: Device Sensors: [ INFO] [1553070463.400089122]: Stereo Module was found. [ INFO] [1553070463.400237230]: RGB Camera was found.

[ INFO] [1553070463.416284782]: Expected frequency for depth = 30.00000 [ INFO] [1553070463.439415388]: Expected frequency for infra1 = 30.00000 [ INFO] [1553070463.460128902]: Expected frequency for infra2 = 30.00000 [ INFO] [1553070463.477405831]: Expected frequency for color = 30.00000 [ INFO] [1553070463.485646318]: Plugin sys_status initialized [ INFO] [1553070463.486206105]: Plugin sys_time loaded

20/03 17:27:43,541 WARNING [547423748096] (sensor.cpp:329) Unregistered Media formats : [ UYVY ]; Supported: [ ] [ INFO] [1553070463.556539875]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1553070463.557288475]: infra1 stream is enabled - width: 480, height: 270, fps: 30 [ INFO] [1553070463.557847463]: infra2 stream is enabled - width: 480, height: 270, fps: 30 [ INFO] [1553070463.560894176]: TM: Timesync mode: MAVLINK [ INFO] [1553070463.565370334]: Plugin sys_time initialized [ INFO] [1553070463.565663194]: Plugin trajectory loaded [ INFO] [1553070463.580023069]: color stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1553070463.594178497]: Plugin trajectory initialized [ INFO] [1553070463.594490477]: Plugin vfr_hud loaded [ INFO] [1553070463.596612823]: Plugin vfr_hud initialized [ INFO] [1553070463.596701841]: Plugin vibration blacklisted [ INFO] [1553070463.596942677]: Plugin vision_pose_estimate loaded

[ INFO] [1553070463.627217792]: RealSense Node Is Up! [ INFO] [1553070463.636379033]: Plugin vision_pose_estimate initialized [ INFO] [1553070463.636689991]: Plugin vision_speed_estimate loaded [ INFO] [1553070463.648750603]: Plugin vision_speed_estimate initialized [ INFO] [1553070463.649147158]: Plugin waypoint loaded [ INFO] [1553070463.674603054]: Plugin waypoint initialized [ INFO] [1553070463.674718101]: Plugin wheel_odometry blacklisted [ INFO] [1553070463.675080506]: Plugin wind_estimation loaded [ INFO] [1553070463.677476206]: Plugin wind_estimation initialized [ INFO] [1553070463.677598319]: Autostarting mavlink via USB on PX4 [ INFO] [1553070463.677739841]: Built-in SIMD instructions: ARM NEON [ INFO] [1553070463.677829467]: Built-in MAVLink package version: 2019.2.2 [ INFO] [1553070463.677920340]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1553070463.677985633]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1553070463.703874472]: IMU: High resolution IMU detected! [ INFO] [1553070463.743125372]: IMU: Attitude quaternion IMU detected! [ INFO] [1553070464.290441085]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1553070464.314658566]: IMU: Attitude quaternion IMU detected! [ INFO] [1553070464.383156239]: IMU: High resolution IMU detected! [ INFO] [1553070465.300054196]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1553070465.300201416]: VER: 1.1: Flight software: 01090080 (18f7ee2d50dc4504) [ INFO] [1553070465.300273650]: VER: 1.1: Middleware software: 01090080 (18f7ee2d50dc4504) [ INFO] [1553070465.300336036]: VER: 1.1: OS software: 071c00ff (ffd37a0175352697) [ INFO] [1553070465.300414379]: VER: 1.1: Board hardware: 00000011 [ INFO] [1553070465.300464774]: VER: 1.1: VID/PID: 26ac:0011 [ INFO] [1553070465.300514817]: VER: 1.1: UID: 3337510d37353832 [ WARN] [1553070465.300631818]: CMD: Unexpected command 520, result 0 [set_RS_param-9] process has finished cleanly log file: /home/nvidia/.ros/log/0600d7ac-4aea-11e9-9209-36006a8d354b/set_RS_param-9.log [ INFO] [1553070474.290864191]: HP: requesting home position model parameter acceleration horizontal is set from 5.000000 to 5.000000 model parameter acceleration up is set from 10.000000 to 10.000000 model parameter landing speed is set from 0.700000 to 0.700000 model parameter takeoff speed is set from 1.000000 to 1.500000 model parameter velocity horizontal is set from 1.000000 to 5.000000 model parameter velocity down is set from 10.000000 to 1.000000 model parameter velocity up is set from 3.000000 to 3.000000 [ INFO] [1553070479.306719960]: WP: item #0 F:3 C: 22 p: 15.000000 0.000000 0.000000 nan x: 37.512775 y: 127.032310 z: 50.000000 [ INFO] [1553070479.310987023]: WP: item #1 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 37.512615 y: 127.030586 z: 50.000000 [ INFO] [1553070479.315254247]: WP: item #2 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 37.511379 y: 127.030945 z: 50.000000 [ INFO] [1553070479.320948014]: WP: item #3 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 37.511040 y: 127.032227 z: 50.000000 [ INFO] [1553070479.327259934]: WP: item #4 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 37.511772 y: 127.032814 z: 50.000000 [ INFO] [1553070479.337915294]: WP: item #5 F:3 C: 16 p: 0.000000 0.000000 0.000000 nan x: 37.512272 y: 127.032333 z: 50.000000 [ INFO] [1553070479.343158793]: WP: item #6 F:2 C: 20 p: 0.000000 0.000000 0.000000 0.000000 x: 0.000000 y: 0.000000 z: 0.000000 [ INFO] [1553070479.343782414]: WP: mission received

mrivi commented 5 years ago

@moonlive why do you say the local planner doesn't work? The output seems correct.

moonlive commented 5 years ago

@mrivi Below is my rostopic list when run avoidance launch.

/adapted_waypoint /bounding_box /camera/color/camera_info /camera/color/image_raw /camera/depth/camera_info /camera/depth/image_rect_raw /camera/depth/points /camera/extrinsics/depth_to_color /camera/extrinsics/depth_to_infra1 /camera/extrinsics/depth_to_infra2 /camera/infra1/camera_info /camera/infra1/image_rect_raw /camera/infra2/camera_info /camera/infra2/image_rect_raw /camera/realsense2_camera_manager/bond /camera/realsense2_camera_manager/parameter_descriptions /camera/realsense2_camera_manager/parameter_updates /clicked_point /complete_tree /cost_image /current_setpoint /diagnostics /drone /goal_position /ground_measurement /histogram_image /initial_height /input/goal_position /local_planner_node/parameter_descriptions /local_planner_node/parameter_updates /local_pointcloud /mavlink/from /mavlink/to /mavros/actuator_control /mavros/adsb/send /mavros/adsb/vehicle /mavros/altitude /mavros/battery /mavros/cam_imu_sync/cam_imu_stamp /mavros/companion_process/status /mavros/debug_value/debug /mavros/debug_value/debug_vector /mavros/debug_value/named_value_float /mavros/debug_value/named_value_int /mavros/debug_value/send /mavros/extended_state /mavros/fake_gps/mocap/tf /mavros/global_position/compass_hdg /mavros/global_position/global /mavros/global_position/gp_lp_offset /mavros/global_position/gp_origin /mavros/global_position/home /mavros/global_position/local /mavros/global_position/raw/fix /mavros/global_position/raw/gps_vel /mavros/global_position/rel_alt /mavros/global_position/set_gp_origin /mavros/gps_rtk/send_rtcm /mavros/hil/actuator_controls /mavros/hil/controls /mavros/hil/gps /mavros/hil/imu_ned /mavros/hil/optical_flow /mavros/hil/rc_inputs /mavros/hil/state /mavros/home_position/home /mavros/home_position/set /mavros/imu/data /mavros/imu/data_raw /mavros/imu/diff_pressure /mavros/imu/mag /mavros/imu/static_pressure /mavros/imu/temperature_baro /mavros/imu/temperature_imu /mavros/local_position/accel /mavros/local_position/odom /mavros/local_position/pose /mavros/local_position/pose_cov /mavros/local_position/velocity_body /mavros/local_position/velocity_body_cov /mavros/local_position/velocity_local /mavros/log_transfer/raw/log_data /mavros/log_transfer/raw/log_entry /mavros/manual_control/control /mavros/manual_control/send /mavros/mission/reached /mavros/mission/waypoints /mavros/mocap/tf /mavros/obstacle/send /mavros/odometry/in /mavros/odometry/out /mavros/param/param_value /mavros/px4flow/ground_distance /mavros/px4flow/raw/optical_flow_rad /mavros/px4flow/raw/send /mavros/px4flow/temperature /mavros/radio_status /mavros/rc/in /mavros/rc/out /mavros/rc/override /mavros/setpoint_accel/accel /mavros/setpoint_attitude/cmd_vel /mavros/setpoint_attitude/thrust /mavros/setpoint_position/global /mavros/setpoint_position/local /mavros/setpoint_raw/attitude /mavros/setpoint_raw/global /mavros/setpoint_raw/local /mavros/setpoint_raw/target_attitude /mavros/setpoint_raw/target_global /mavros/setpoint_raw/target_local /mavros/setpoint_velocity/cmd_vel /mavros/setpoint_velocity/cmd_vel_unstamped /mavros/state /mavros/statustext/recv /mavros/statustext/send /mavros/target_actuator_control /mavros/time_reference /mavros/timesync_status /mavros/trajectory/desired /mavros/trajectory/generated /mavros/trajectory/path /mavros/vfr_hud /mavros/vision_pose/pose /mavros/vision_pose/pose_cov /mavros/vision_speed/speed_vector /mavros/wind_estimation /move_base_simple/goal /original_waypoint /path_actual /path_adapted_waypoint /path_waypoint /reprojected_points /rosout /rosout_agg /smoothed_waypoint /take_off_pose /tf /tf_static /tree_path /world

Could i missing topic?

And, Can you show me the way how to see cloudpoint at rviz. I add depth camera but can't see images.

mrivi commented 5 years ago

@moonlive See this post on how to connect to Rviz http://discuss.px4.io/t/obstacles-recognition/9864

baumanta commented 5 years ago

@moonlive if you do rostopic hz /local_pointcloud and you get any frequency (about 10-20Hz usually) then your planner is running fine. If you want to visualize topics in Rviz, you need to add the topic to Rviz

moonlive commented 5 years ago

@mrivi The reason i think so is because I can not see the messages that are shown when it working normally. Like this Planning started, using 1 cameras. It is according official install manual.

moonlive commented 5 years ago

I'm appreciate help me everyone. Hello @baumanta I didn't see pointcloud images but i checke data as rostopic echo /local_pointcloud. It looks like frequency is very late.

average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00459s window: 2796 average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00459s window: 2801 average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00459s window: 2807 average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00459s window: 2812 average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00458s window: 2818 average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00458s window: 2824 average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00458s window: 2829 average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00457s window: 2835 average rate: 5.515 min: 0.164s max: 0.199s std dev: 0.00458s window: 2840

Do you have any tip for more faster? Thank you very much everyone again.

baumanta commented 5 years ago

that means the planner is running correctly. If you do not see the pointcloud in Rviz you did not set up your Rviz connection properly. Please check your RViz setup again.

jkflying commented 5 years ago

You can reduce the number of nodes to get faster planning, also adjust the distance between nodes. These are in RQT reconfigure.