search

code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
877 stars 520 forks source link

Step 6 Connect your sensor and run kinect2_bridge: #217

Closed HeGaoYuan closed 8 years ago

HeGaoYuan commented 8 years ago

when I tried: roslaunch kinect2_bridge kinect2_bridge.launch but I got this error: [kinect2_bridge.launch] is neither a launch file in package [kinect2_bridge] nor is [kinect2_bridge] a launch file name The traceback for the exception was written to the log file

thank U so much!

kohrt commented 8 years ago

Did you compiled your workspace and sourced it?

HeGaoYuan commented 8 years ago

thanks!!! My problem has been solved by your advice!!!

dandan19793 commented 8 years ago

hallo thiemo,

i followed your tutorial carefully and received the same error message as HeGauYuan. how do i compile my workspace and source it?

any help will be much appreciated

kohrt commented 8 years ago

http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

dandan19793 commented 8 years ago

hallo thiemo,

thanks for the quick reply. i already followed the link you had sent me so i didn't think i should do it again. anyway, after doing it again I am now stuck at: [ INFO] [1461072506.260517892]: [Kinect2Bridge::main] waiting for clients to connect do you have any idea what might be wrong now?

here is the full output:

student@student:~/catkin_ws$ roslaunch kinect2_bridge kinect2_bridge.launch ... logging to /home/student/.ros/log/3c31a176-0632-11e6-923d-fcaa142568f8/roslaunch-student-17141.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://student:43180/

SUMMARY

PARAMETERS

NODES / 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)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[kinect2-1]: started with pid [17159] process[kinect2_bridge-2]: started with pid [17160] process[kinect2_points_xyzrgb_sd-3]: started with pid [17161] process[kinect2_points_xyzrgb_qhd-4]: started with pid [17162] process[kinect2_points_xyzrgb_hd-5]: started with pid [17163] [ INFO] [1461072504.963747776]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1461072504.967466582]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... [ INFO] [1461072504.972209021]: Initializing nodelet with 8 worker threads. [ INFO] [1461072504.988429160]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1461072505.113160394]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/student/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] [CudaDepthPacketProcessorImpl] device 0: Quadro 2000 @ 1251MHz Memory 1020MB [Info] [CudaDepthPacketProcessorImpl] selected device 0 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 12 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:21 with serial 023571344747 [Info] [Freenect2Impl] found 1 devices [ INFO] [1461072505.205632980]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1461072505.205674170]: [Kinect2Bridge::initDevice] 0: 023571344747 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20_16384 ir: 60_8*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1461072505.302098458]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1461072505.911789470]: [Kinect2Bridge::initDevice] device serial: 023571344747 [ INFO] [1461072505.911825852]: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [ WARN] [1461072506.130053428]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1461072506.130098991]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1461072506.130109731]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1461072506.130119235]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1461072506.167248008]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1461072506.167300154]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1461072506.173636184]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1461072506.173738251]: [DepthRegistrationOpenCL::init] 0: Quadro 2000 (GPU)[NVIDIA Corporation] [ INFO] [1461072506.173806233]: [DepthRegistrationOpenCL::init] selected device: Quadro 2000 (GPU)[NVIDIA Corporation] [ INFO] [1461072506.213921387]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1461072506.214022185]: [DepthRegistrationOpenCL::init] 0: Quadro 2000 (GPU)[NVIDIA Corporation] [ INFO] [1461072506.214082417]: [DepthRegistrationOpenCL::init] selected device: Quadro 2000 (GPU)[NVIDIA Corporation] [ INFO] [1461072506.260517892]: [Kinect2Bridge::main] waiting for clients to connect

nomi321 commented 8 years ago

m also facing the same issue. Kindly reply if anybody solved it ... thanks

dandan19793 commented 8 years ago

You need to run the source commands from the link about the ros environment in every shell you open and every time you open a new shell

m also facing the same issue. Kindly reply if anybody solved it ... thanks

— You are receiving this because you are subscribed to this thread. Reply to this email directly or view it on GitHub https://github.com/code-iai/iai_kinect2/issues/217#issuecomment-215146483

nomi321 commented 8 years ago

sorry bro i didnt get your answer. can you please elaborate this ? thankx

dandan19793 commented 8 years ago

hi,

every time you open a shell you need to run:

source /opt/ros//setup.bash source devel/setup.bash

as stated in the ros tutorial. again, for every shell, every time you open one.

hope that helped

On 27 April 2016 at 19:16, nomi321 notifications@github.com wrote:

sorry bro i didnt get your answer. can you please elaborate this ? thankx

— You are receiving this because you are subscribed to this thread. Reply to this email directly or view it on GitHub https://github.com/code-iai/iai_kinect2/issues/217#issuecomment-215154876

kohrt commented 8 years ago

Just form clarification: [Kinect2Bridge::main] waiting for clients to connect is no error / issue. kinect2_bridge is ready to go and is just waiting for clients to connect. It is only processing and transmitting frames if there is at least one node to send them to. For more detailed explenaitions please read the tutorials for ROS: http://wiki.ros.org/ROS/Tutorials

nomi321 commented 8 years ago

ok then what to do after this step as it is stucked here until i enter ctrl+c to terminate it?

JimmyDaSilva commented 8 years ago

You can run RVIZ and look at the images and/or pointclouds. Things are only published once someone is asking for them via ROS.

nomi321 commented 8 years ago

bro What is RVIZ. I m totally new. Please elaborate it. thanks

nomi321 commented 8 years ago

how can i get information about the image/cloud if yes then how ? . I am using the sensor to identify objects. can anybody tell me that what steps should i follow to accomplish it. i shall be thankful ...

dandan19793 commented 8 years ago

you can run: "rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud" in another shell to watch the images. take a look at viewer.cpp at kinect2_viewer. for example at the function createCloud and the depth and color matrices

nomi321 commented 8 years ago

when i run rosrun rviz rviz i get no output except just cursor keeps on blinking as noaman@Rime:~/catkin_ws$ "rosrun rviz rviz

when i run rosrun image_view image_view image:=/camera/rgb/image_color then i get this output with a blank window [ INFO] [1461838542.636481161]: Using transport "raw"

i dont know how to see point cloud. i was following the tutorial http://wiki.ros.org/openni_launch/Tutorials/QuickStart

will this tutorial work for kinect v2 or i m going in right direction ? pllzzzzzzzzz helppp

kohrt commented 8 years ago

Just follow the tutorials for ROS: http://wiki.ros.org/ROS/Tutorials After you did that a lot of things should be self explanatory.

nomi321 commented 8 years ago

bro there are different tutorials. can u suggest me some related to my problem/requirments? thanks

nomi321 commented 8 years ago

just tell me that how can i get point cloud data ? what are the steps involved ?

kohrt commented 8 years ago

start with the first, skip what you already know and go to the next until you know all the basics.

nomi321 commented 8 years ago

ok i m doing that. where can i find tutorials regarding kinect v2 Sensor ? I m using it to identify objects? can you help me to give me a direction to go ? thanks in advance

pallavbakshi commented 7 years ago

Hi @HeGaoYuan and @dandan19793 , I am stuck at the same problem like you. I have already sourced it as mentioned above but it didn't solve the problem. Any suggestions?

TrinhNC commented 7 years ago

You should add this two line to your bashrc file. First open bashrc file by running sudo gedit ~/.bashrc, then add these two line to the end: source /opt/ros/indigo/setup.bash source ~/catkin_ws/devel/setup.bash

Replace 'indigo' by your ros version, and 'catkin_ws' by the location of your catkin workspace. Then open a new Terminal and run roslaunch kinect2_bridge kinect2_bridge.launch. Now it should work. If it still doesn't work, reopen the bashrc file and check if there are duplicate lines of the above 2 lines. Delete the duplicate line and retry.

LittleFishLove commented 6 years ago

@wiedemeyer
Hi, I fellow your steps: source devel/setup.bash echo $ROS_PACKAGE_PATH and after I input roslaunch kinect2_bridge kinect2_bridge.launch, a new problem occured:

... logging to /home/gengruopeng/.ros/log/bb636d2e-071d-11e8-9985-f0761c69baf9/roslaunch-gengruopeng-12839.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://gengruopeng:44568/

SUMMARY

PARAMETERS

NODES / 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)

auto-starting new master process[master]: started with pid [12850] ERROR: could not contact master [http://localhost:11311] The traceback for the exception was written to the log file [master] killing on exit

Can you give me some advance? Thank you so much!