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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
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roslaunch kinect2_bridge kinect2_brdige.launch crashes #399

Open buddiman2 opened 7 years ago

buddiman2 commented 7 years ago

**Hello,

I cannot run** roslaunch kinect2_bridge kinect2_brdige.launch

after that get this: ... logging to /home/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/roslaunch-xiao-VPCCA1S1E-14463.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://xiao-VPCCA1S1E:44300/

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 [14475] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 07720274-1625-11e7-b796-4c0f6efd8dbf process[rosout-1]: started with pid [14488] started core service [/rosout] process[kinect2-2]: started with pid [14504] process[kinect2_bridge-3]: started with pid [14506] process[kinect2_points_xyzrgb_sd-4]: started with pid [14507] process[kinect2_points_xyzrgb_qhd-5]: started with pid [14508] process[kinect2_points_xyzrgb_hd-6]: started with pid [14511] [ INFO] [1490973396.012543947]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1490973396.031824906]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... [ INFO] [1490973396.065199452]: Initializing nodelet with 4 worker threads. [ INFO] [1490973396.075804329]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1490973396.171021180]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/xiao/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 [FATAL] [1490973396.446340670]: Failed to load nodelet '/kinect2_points_xyzrgb_sdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1490973396.446505098]: Failed to load nodelet '/kinect2_points_xyzrgb_qhdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1490973396.446750288]: Failed to load nodelet '/kinect2_points_xyzrgb_hdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1490973396.446773372]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2' [kinect2-2] process has died [pid 14504, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager name:=kinect2 log:=/home/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2-2.log]. log file: /home/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2-2.log [kinect2_bridge-3] process has died [pid 14506, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2_bridge-3.log]. log file: /home/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2_bridge-3.log [kinect2_points_xyzrgb_qhd-5] process has died [pid 14508, 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/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2_points_xyzrgb_qhd-5.log]. log file: /home/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2_points_xyzrgb_qhd-5*.log [kinect2_points_xyzrgb_hd-6] process has died [pid 14511, 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/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2_points_xyzrgb_hd-6.log]. log file: /home/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2_points_xyzrgb_hd-6.log [kinect2_bridge-3] restarting process process[kinect2_bridge-3]: started with pid [14647] [kinect2_points_xyzrgb_qhd-5] restarting process process[kinect2_points_xyzrgb_qhd-5]: started with pid [14648] [kinect2_points_xyzrgb_hd-6] restarting process process[kinect2_points_xyzrgb_hd-6]: started with pid [14649] [ INFO] [1490973396.857019748]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1490973396.866902018]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [xiao-VPCCA1S1E:45832], waiting... [kinect2_points_xyzrgb_sd-4] process has died [pid 14507, 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/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2_points_xyzrgb_sd-4.log]. log file: /home/xiao/.ros/log/07720274-1625-11e7-b796-4c0f6efd8dbf/kinect2_points_xyzrgb_sd-4.log [kinect2_points_xyzrgb_sd-4] restarting process process[kinect2_points_xyzrgb_sd-4]: started with pid [14695] ^C[kinect2_points_xyzrgb_hd-6] killing on exit [kinect2_points_xyzrgb_qhd-5] killing on exit [kinect2_points_xyzrgb_sd-4] killing on exit [kinect2_bridge-3] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete

if I would start 3 terminals with roscore rosrun kinect2_viewer kinect2_viewer rosrun kinect2_bridge kinect2_bridge _depth_method:=opengl _reg_method:=cpu i get the followed output.

[ INFO] [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/xiao/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: opengl depth_device: -1 reg_method: cpu reg_device: -1 max_depth: 12 min_depth: 0.1 queue_size: 2 bilateral_filter: true edge_aware_filter: true publish_tf: false base_name_tf: kinect2 worker_threads: 4 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/gallium_drv_video.so libva info: va_openDriver() returns -1 [Error] [VaapiRgbPacketProcessorImpl] vaInitialize(display, &major_ver, &minor_ver): unknown libva error [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 11 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:25 with serial 005691753647 [Info] [Freenect2Impl] found 1 devices [ INFO] [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [Kinect2Bridge::initDevice] 0: 005691753647 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 60833792 [Info] [Freenect2DeviceImpl] opened [ INFO] [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [Kinect2Bridge::initDevice] device serial: 005691753647 [ INFO] [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] [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [Kinect2Bridge::initCalibration] using defaults for depth shift. [ERROR] [Kinect2Bridge::initRegistration] CPU registration is not available! [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed [ERROR] [Kinect2Bridge::start] Initialization failed! [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] already closed, doing nothing xiao@xiao-VPCCA1S1E:~/catkin_ws$ rosrun kinect2_bridge kinect2_bridge _depth_method:=opengl _reg_method:=cpu [ INFO] [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/xiao/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: opengl depth_device: -1 reg_method: cpu reg_device: -1 max_depth: 12 min_depth: 0.1 queue_size: 2 bilateral_filter: true edge_aware_filter: true publish_tf: false base_name_tf: kinect2 worker_threads: 4 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/gallium_drv_video.so libva info: va_openDriver() returns -1 [Error] [VaapiRgbPacketProcessorImpl] vaInitialize(display, &major_ver, &minor_ver): unknown libva error [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 11 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:25 with serial 005691753647 [Info] [Freenect2Impl] found 1 devices [ INFO] [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [Kinect2Bridge::initDevice] 0: 005691753647 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 60833792 [Info] [Freenect2DeviceImpl] opened [ INFO] [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [Kinect2Bridge::initDevice] device serial: 005691753647 [ INFO] [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] [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [Kinect2Bridge::initCalibration] using defaults for depth shift. [ERROR] [Kinect2Bridge::initRegistration] CPU registration is not available! [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed [ERROR] [Kinect2Bridge::start] Initialization failed! [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] already closed, doing nothing

i am using Advanced Micro Devices, Inc. [AMD/ATI] Seymour [Radeon HD 6400M/7400M Series] GPU and followed the libfreenect2 install tutorial. ./bin/Protonect works but just the other thing doesnt work :( please help

LabJeff123 commented 7 years ago

I'm having the similar issue when using CPU as registration... I don't have GPU so I'm not using opencl. I did a "rosrun kinect2_bridge kinect2_bridge _depth_method:=cpu _reg_method:=cpu", and here is the output: [ INFO] [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/anca/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: cpu depth_device: -1 reg_method: cpu reg_device: -1 max_depth: 12 min_depth: 0.1 queue_size: 2 bilateral_filter: true edge_aware_filter: true publish_tf: false base_name_tf: kinect2 worker_threads: 4 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 Desktop - 1.7.0 [Error] [VaapiRgbPacketProcessorImpl] vaQueryConfigEntrypoints(display, VAProfileJPEGBaseline, entrypoints, &num_entrypoints): the requested VAProfile is not supported [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 10 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:5 with serial 006400461647 [Info] [Freenect2Impl] found 1 devices [ INFO] [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [Kinect2Bridge::initDevice] 0: 006400461647 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [Kinect2Bridge::initDevice] device serial: 006400461647 [ INFO] [Kinect2Bridge::initDevice] device firmware: 4.0.3916.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [ WARN] [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [Kinect2Bridge::initCalibration] using defaults for depth shift. [ERROR] [Kinect2Bridge::initRegistration] CPU registration is not available! [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed [ERROR] [Kinect2Bridge::start] Initialization failed! [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] already closed, doing nothing

Protonect works for opengl and cpu. Please help!!!

kohrt commented 7 years ago

This happens if the kinect2_registration package did not compiled the CPU registration. Please check the cmake output, but probably Eigen was not found.