kohrt
commented
8 years ago try rosrun kinect2_bridge kinect2_bridge and see if that works fine.
Closed Chen-Xieyuanli closed 8 years ago
kohrt
commented
8 years ago try rosrun kinect2_bridge kinect2_bridge and see if that works fine.
Chen-Xieyuanli
commented
8 years ago Thanks for your reply, but here comes a new one as follow:
[ERROR] [1460711798.290781614]: [Kinect2Bridge::receiveIrDepth] received invalid frame format
Here are the details ... logging to /home/chenxieyuanli/.ros/log/be311300-02ea-11e6-86bc-5cc5d4b62664/roslaunch-chenxieyuanli-ThinkPad-T440p-3790.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://chenxieyuanli-ThinkPad-T440p:35611/
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 [3802] ROS_MASTER_URI=http://localhost:11311
setting /run_id to be311300-02ea-11e6-86bc-5cc5d4b62664 process[rosout-1]: started with pid [3815] started core service [/rosout] process[kinect2-2]: started with pid [3828] process[kinect2_bridge-3]: started with pid [3833] process[kinect2_points_xyzrgb_sd-4]: started with pid [3834] process[kinect2_points_xyzrgb_qhd-5]: started with pid [3835] [ INFO] [1460711792.396782139]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: process[kinect2_points_xyzrgb_hd-6]: started with pid [3846] [ INFO] [1460711792.402696815]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... [ INFO] [1460711792.434501697]: Initializing nodelet with 8 worker threads. [ INFO] [1460711792.444315445]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1460711792.601592654]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/chenxieyuanli/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: cpu 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] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 10 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:2 with serial 022766543547 [Info] [Freenect2Impl] found 1 devices [ INFO] [1460711792.741674047]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1460711792.741725597]: [Kinect2Bridge::initDevice] 0: 022766543547 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] opened [ INFO] [1460711792.873517071]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1460711793.217336668]: [Kinect2Bridge::initDevice] device serial: 022766543547 [ INFO] [1460711793.217388351]: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [ INFO] [1460711793.499648212]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1460711793.499725274]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1460711793.568134625]: [Kinect2Bridge::main] waiting for clients to connect [ INFO] [1460711797.896101020]: [Kinect2Bridge::callbackStatus] client connected. starting device... [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ERROR] [1460711798.290781614]: [Kinect2Bridge::receiveIrDepth] received invalid frame format [Error] [RgbPacketStreamParser] packetsize or sequence doesn't match! [Info] [DepthPacketStreamParser] -2 packets were lost [Info] [OpenGLDepthPacketProcessor] avg. time: 14.3411ms -> ~69.7294Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 18.4468ms -> ~54.2101Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 14.275ms -> ~70.0527Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 17.3672ms -> ~57.5797Hz
kohrt
commented
8 years ago make sure your libfreenect2 is up to date.
Chen-Xieyuanli
commented
8 years ago I've reinstall libfreenect2 for many times using 'git clone https://github.com/OpenKinect/libfreenect2.git'.
But still failed.
I can get images normally from NiViewer2 and Protonect. And I didn't install cuda. Should I do that?
[ERROR] [1460729841.480816949]: [Kinect2Bridge::receiveIrDepth] failure in depth packet processor from libfreenect2
Chen-Xieyuanli
commented
8 years ago Here are the messages when I run ./bin/Protonect
[Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 10 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:2 with serial 022766543547 [Info] [Freenect2Impl] found 1 devices [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 10 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:2 with serial 022766543547 [Info] [Freenect2Impl] found 1 devices libva info: VA-API version 0.39.0 libva info: va_getDriverName() returns 0 libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so libva info: Found init function __vaDriverInit_0_39 libva info: va_openDriver() returns 0 [Info] [VaapiRgbPacketProcessorImpl] driver: Intel i965 driver for Intel(R) Haswell Mobile - 1.7.0 [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20_16384 ir: 60_8*33792 [Info] [Freenect2DeviceImpl] opened [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [Info] [DepthPacketStreamParser] 5 packets were lost [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] already closed, doing nothing
Here are the messages when I run NiViewer2 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 10 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:2 with serial 022766543547 [Info] [Freenect2Impl] found 1 devices [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 10 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:2 with serial 022766543547 [Info] [Freenect2Impl] found 1 devices libva info: VA-API version 0.39.0 libva info: va_getDriverName() returns 0 libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so libva info: Found init function __vaDriverInit_0_39 libva info: va_openDriver() returns 0 [Info] [VaapiRgbPacketProcessorImpl] driver: Intel i965 driver for Intel(R) Haswell Mobile - 1.7.0 [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20_16384 ir: 60_8*33792 [Info] [Freenect2DeviceImpl] opened [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [Info] [DepthPacketStreamParser] 5 packets were lost [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] already closed, doing nothing
kohrt
commented
8 years ago There seems to be something wrong with the ir/depth frames you receive, the error messages are pretty clear and there is something not working right in your libfreenect2 installation. Did you ran make install after updating libfreenect2? Check that kinect2_bridge links to the right libfreenect2.so by using ldd.
Please add the following code to line 944 in kinect2_bridge.cpp, to print the status and format of both frames:
OUT_INFO("ir status: " << irFrame->status << " format: " << irFrame->format);
OUT_INFO("depth status: " << depthFrame->status << " format: " << depthFrame->format);Thanks Thiemo! It works now!!
Stupid I (face palm) still don't know what's going wrong.
Failed so many times, and I reinstall Ubuntu and ROS. That's done (face palm again.)
Hi everybody,
I got an error when I roslaunch kinect2_bridge kinect2_bridge.launch.
Here is all the messages:
chenxieyuanli@chenxieyuanli-ThinkPad-T440p:~/catkin_ws$ roslaunch kinect2_bridge kinect2_bridge.launch ... logging to /home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/roslaunch-chenxieyuanli-ThinkPad-T440p-20942.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://chenxieyuanli-ThinkPad-T440p:42375/
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 [20954] ROS_MASTER_URI=http://localhost:11311
setting /run_id to a2c7fae6-02b5-11e6-96f2-5cc5d4b62664 process[rosout-1]: started with pid [20967] started core service [/rosout] process[kinect2-2]: started with pid [20979] process[kinect2_bridge-3]: started with pid [20985] process[kinect2_points_xyzrgb_sd-4]: started with pid [20986] process[kinect2_points_xyzrgb_qhd-5]: started with pid [20987] [ INFO] [1460688983.090469007]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: process[kinect2_points_xyzrgb_hd-6]: started with pid [20996] [ INFO] [1460688983.103552221]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... [ INFO] [1460688983.133257006]: Initializing nodelet with 8 worker threads. [ INFO] [1460688983.145195176]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1460688983.210273291]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/chenxieyuanli/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 workerthreads: 4 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 10 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:2 with serial 022766543547 [Info] [Freenect2Impl] found 1 devices [ INFO] [1460688983.352676849]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1460688983.352726862]: [Kinect2Bridge::initDevice] 0: 022766543547 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] opened [ INFO] [1460688983.484261625]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1460688983.830356069]: [Kinect2Bridge::initDevice] device serial: 022766543547 [ INFO] [1460688983.830418768]: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [FATAL] [1460688984.161890434]: Service call failed! [FATAL] [1460688984.161890351]: Service call failed! [FATAL] [1460688984.163171368]: Service call failed! [FATAL] [1460688984.163222797]: Service call failed! [kinect2-2] process has died [pid 20979, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager name:=kinect2 log:=/home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2-2.log]. log file: /home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2-2.log [kinect2_bridge-3] process has died [pid 20985, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 name:=kinect2_bridge __log:=/home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2_bridge-3.log]. log file: /home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2bridge-3.log [kinect2_points_xyzrgb_sd-4] process has died [pid 20986, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/sd/camera_info rgb/image_rect_color:=kinect2/sd/image_color_rect depth_registered/image_rect:=kinect2/sd/image_depth_rect depth_registered/points:=kinect2/sd/points name:=kinect2_points_xyzrgb_sd log:=/home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2_points_xyzrgb_sd-4.log]. log file: /home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2_points_xyzrgbsd-4.log [kinect2_points_xyzrgb_qhd-5] process has died [pid 20987, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/qhd/camera_info rgb/image_rect_color:=kinect2/qhd/image_color_rect depth_registered/image_rect:=kinect2/qhd/image_depth_rect depth_registered/points:=kinect2/qhd/points __name:=kinect2_points_xyzrgb_qhd log:=/home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2_points_xyzrgb_qhd-5.log]. log file: /home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2_points_xyzrgbqhd-5.log [kinect2_points_xyzrgb_hd-6] process has died [pid 20996, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/hd/camera_info rgb/image_rect_color:=kinect2/hd/image_color_rect depth_registered/image_rect:=kinect2/hd/image_depth_rect depth_registered/points:=kinect2/hd/points __name:=kinect2_points_xyzrgb_hd __log:=/home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2_points_xyzrgb_hd-6.log]. log file: /home/chenxieyuanli/.ros/log/a2c7fae6-02b5-11e6-96f2-5cc5d4b62664/kinect2_points_xyzrgb_hd-6*.log [kinect2_bridge-3] restarting process process[kinect2_bridge-3]: started with pid [21136] [kinect2_points_xyzrgb_sd-4] restarting process process[kinect2_points_xyzrgb_sd-4]: started with pid [21137] [kinect2_points_xyzrgb_qhd-5] restarting process process[kinect2_points_xyzrgb_qhd-5]: started with pid [21138] [kinect2_points_xyzrgb_hd-6] restarting process process[kinect2_points_xyzrgb_hd-6]: started with pid [21139] [ INFO] [1460688984.469607751]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1460688984.473193139]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [chenxieyuanli-ThinkPad-T440p:54824], waiting...
Hope to your reply, thanks.