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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
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"roslaunch kinect2_bridge kinect2_bridge.launch"process has died #350

Closed jasoninsh closed 7 years ago

jasoninsh commented 7 years ago

better-nan@better-nan:~/catkin_ws/src$ roslaunch kinect2_bridge kinect2_bridge.launch ... logging to /home/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/roslaunch-better-nan-28551.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://better-nan:44823/

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 [28569] process[kinect2_bridge-2]: started with pid [28570] process[kinect2_points_xyzrgb_sd-3]: started with pid [28571] process[kinect2_points_xyzrgb_qhd-4]: started with pid [28572] process[kinect2_points_xyzrgb_hd-5]: started with pid [28574] [ INFO] [1483428178.156375545]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1483428178.163859929]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... [ INFO] [1483428178.167715275]: Initializing nodelet with 4 worker threads. [ INFO] [1483428178.185237977]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1483428178.308906772]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/better-nan/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] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 12 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:9 with serial 041823341247 [Info] [Freenect2Impl] found 1 devices [ INFO] [1483428178.461390028]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1483428178.461451286]: [Kinect2Bridge::initDevice] 0: 041823341247 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 60833792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1483428178.562527358]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1483428179.193046295]: [Kinect2Bridge::initDevice] device serial: 041823341247 [ INFO] [1483428179.193111052]: [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] [1483428183.405699393]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2' [FATAL] [1483428183.405699792]: Failed to load nodelet '/kinect2_points_xyzrgb_qhdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1483428183.406130693]: Failed to load nodelet '/kinect2_points_xyzrgb_sdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [kinect2-1] process has died [pid 28569, exit code -11, cmd /opt/ros/jade/lib/nodelet/nodelet manager name:=kinect2 log:=/home/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2-1.log]. log file: /home/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2-1.log [kinect2_bridge-2] process has died [pid 28570, exit code 255, cmd /opt/ros/jade/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 name:=kinect2_bridge log:=/home/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2_bridge-2.log]. log file: /home/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2_bridge-2*.log [kinect2_points_xyzrgb_sd-3] process has died [pid 28571, exit code 255, cmd /opt/ros/jade/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/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2_points_xyzrgb_sd-3.log]. log file: /home/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2_points_xyzrgb_sd-3.log [kinect2_points_xyzrgb_qhd-4] process has died [pid 28572, exit code 255, cmd /opt/ros/jade/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/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2_points_xyzrgb_qhd-4.log]. log file: /home/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2_points_xyzrgb_qhd-4.log [kinect2_bridge-2] restarting process process[kinect2_bridge-2]: started with pid [28735] [kinect2_points_xyzrgb_sd-3] restarting process process[kinect2_points_xyzrgb_sd-3]: started with pid [28736] [kinect2_points_xyzrgb_qhd-4] restarting process process[kinect2_points_xyzrgb_qhd-4]: started with pid [28737] [ INFO] [1483428183.692018921]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1483428183.702122555]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [better-nan:56913], waiting... [kinect2_points_xyzrgb_hd-5] process has finished cleanly log file: /home/better-nan/.ros/log/00fb7ee6-d185-11e6-8a8f-507b9d0d6caa/kinect2_points_xyzrgb_hd-5*.log [kinect2_points_xyzrgb_hd-5] restarting process process[kinect2_points_xyzrgb_hd-5]: started with pid [29185]

I have cuda and add CUDA to my environment. Thanks for any help!

kohrt commented 7 years ago

try to run the kinect2_bridge node directly with rosrun. If that doesn't give you a meaningful error message, compile it in debug and run it in gdb.

yalan2017 commented 7 years ago

Hi I can run libfreenect2 without any problem, but for for iai_kinect2 part when i would to run "roslaunch kinect2_bridge kinect2_bridge.launch." i face with this error: Thank you for your great job

process[kinect2_points_xyzrgb_qhd-5]: started with pid [23020] [kinect2_points_xyzrgb_hd-6] restarting process process[kinect2_points_xyzrgb_hd-6]: started with pid [23021] [ INFO] [1486694772.768844716]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1486694772.775450046]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [Cyber:44516], waiting...

yalan2017 commented 7 years ago

hi i updated my nvidia driver now i have such error! any problem with opencl? how should i fix it thank you

X server found. dri2 connection failed! DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument Assuming 131072kB available aperture size. May lead to reduced performance or incorrect rendering. get chip id failed: -1 [22] param: 4, val: 0 beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) [ INFO] [1486730543.585667517]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1486730543.585887325]: [DepthRegistrationOpenCL::init] 0: GeForce GTX 750 Ti [ INFO] [1486730543.586001202]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 750 Ti X server found. dri2 connection failed! DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument Assuming 131072kB available aperture size. May lead to reduced performance or incorrect rendering. get chip id failed: -1 [22] param: 4, val: 0 beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) [ INFO] [1486730543.669790701]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1486730543.669894752]: [DepthRegistrationOpenCL::init] 0: GeForce GTX 750 Ti [ INFO] [1486730543.669996153]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 750 Ti [ INFO] [1486730543.773662791]: [Kinect2Bridge::main] waiting for clients to connect

kohrt commented 7 years ago

I don't know, but you could try to uninstall beignet if you are unsing nvidia.

random-user-x commented 7 years ago

Hie @wiedemeyer , The problem exists with rosrun as well . Protonet is working well and fine.

kohrt commented 7 years ago

@luffy1996 which problem? the one from yalan2017 or jasoninsh? You can also select the registration and depth processing method by a parameter. Try out the cpu methods.

random-user-x commented 7 years ago

@wiedemeyer the problem is it gets stuck here. I can not find out why this is getting stuck here. The Protonect works out fine and there was 100% building in catkin_make. I will be grateful to you for your help.

#################################################################### luffy@raftel:~/catkin_ws$ roslaunch kinect2_bridge kinect2_bridge.launch ... logging to /home/luffy/.ros/log/e4ae0360-0462-11e7-8033-d0bf9c9c8ded/roslaunch-raftel-28036.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://raftel:37508/

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 [28048] ROS_MASTER_URI=http://localhost:11311

setting /run_id to e4ae0360-0462-11e7-8033-d0bf9c9c8ded process[rosout-1]: started with pid [28061] started core service [/rosout] process[kinect2-2]: started with pid [28074] process[kinect2_bridge-3]: started with pid [28079] process[kinect2_points_xyzrgb_sd-4]: started with pid [28080] process[kinect2_points_xyzrgb_qhd-5]: started with pid [28086] [ INFO] [1489020845.331584020]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1489020845.340072227]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_hd-6]: started with pid [28100] [ INFO] [1489020845.383206742]: Initializing nodelet with 4 worker threads. [ INFO] [1489020845.390147274]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1489020845.520706658]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/luffy/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: GeForce 940M @ 1176MHz Memory 2047MB [Info] [CudaDepthPacketProcessorImpl] selected device 0 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 10 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:5 with serial 027237744647 [Info] [Freenect2Impl] found 1 devices [ INFO] [1489020845.847186692]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1489020845.847305140]: [Kinect2Bridge::initDevice] 0: 027237744647 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1489020845.944943374]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1489020846.578533018]: [Kinect2Bridge::initDevice] device serial: 027237744647 [ INFO] [1489020846.578573819]: [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] [1489020846.862482658]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1489020846.862532271]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1489020846.862548159]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1489020846.862563228]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1489020846.934800168]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1489020846.934929107]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1489020847.021904940]: [Kinect2Bridge::main] waiting for clients to connect

kohrt commented 7 years ago

It is not stuck. I don't know how often I answered to this before, but a search in the issues should come up with many posts. waiting for clients to connect means that everything is fine, it just waits for topic subscriptions.

yalan2017 commented 7 years ago

hi i just reinstall my ros and its working now , thank you for your great job

nabeelyousfi commented 6 years ago

when i am trying to run this command infinte loop is running roslaunch kinect2_bridge kinect2_bridge.launch _depth_method:=cpu _reg_method:=cpu

it shows some errors like

process[kinect2_bridge-2]: started with pid [10616] [ INFO] [1516188394.849046764]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1516188394.941377152]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/nabeel/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 beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) [Info] [OpenCLDepthPacketProcessorImpl] devices: [Error] [OpenCLDepthPacketProcessorImpl] could not find any suitable device [Error] [OpenCLAllocator] b->buffer = cl::Buffer(context, CL_MEM_WRITE_ONLY | CL_MEM_ALLOC_HOST_PTR, size, NULL, &err): -34 [Error] [OpenCLAllocator] b->buffer = cl::Buffer(context, CL_MEM_WRITE_ONLY | CL_MEM_ALLOC_HOST_PTR, size, NULL, &err): -34 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) Sandybridge Mobile - 1.7.0 [Error] [VaapiRgbPacketProcessorImpl] vaQueryConfigEntrypoints(display, VAProfileJPEGBaseline, entrypoints, &num_entrypoints): the requested VAProfile is not supported [Error] [OpenCLAllocator] b->buffer = cl::Buffer(context, CL_MEM_READ_ONLY | CL_MEM_ALLOC_HOST_PTR, size, NULL, &err): -34 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 8 usb devices connected [Info] [Freenect2Impl] found 0 devices [ERROR] [1516188394.945173788]: [Kinect2Bridge::initDevice] no Kinect2 devices found! [Error] [OpenCLAllocator] queue.enqueueUnmapMemObject(b->buffer, b->data, NULL, &event): -36 [Error] [OpenCLAllocator] queue.enqueueUnmapMemObject(b->buffer, b->data, NULL, &event): -36 [Error] [OpenCLAllocator] queue.enqueueUnmapMemObject(b->buffer, b->data, NULL, &event): -36 [ERROR] [1516188394.945611821]: [Kinect2Bridge::start] Initialization failed! [FATAL] [1516188394.967567244]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2' [kinect2_bridge-2] process has died [pid 10616, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge log:=/home/nabeel/.ros/log/4008d6aa-fb79-11e7-878c-60d819231e93/kinect2_bridge-2.log]. log file: /home/nabeel/.ros/log/4008d6aa-fb79-11e7-878c-60d819231e93/kinect2_bridge-2*.log