search

code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
879 stars 519 forks source link

kinect2_bridge not working #431

Open thumbhero opened 7 years ago

thumbhero commented 7 years ago

Hello everyone,

I am using UNC5i7RYH w/ Ubuntu 16.04.2 LTS, ROS Kinetic. Tried to roslaunch kinect2_bridge with following command: roslaunch kinect2_bridge kinect2_bridge.launch but faced FATAL ERROR like below. (Actually libfreenect2 only work fine with opengl but not opencl)

Please advise me some hints to fix this problem. Thank you very much.

core service [/rosout] found process[kinect2-1]: started with pid [3796] process[kinect2_bridge-2]: started with pid [3797] process[kinect2_points_xyzrgb_sd-3]: started with pid [3798] [ INFO] [1499183461.461100434]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: process[kinect2_points_xyzrgb_qhd-4]: started with pid [3799] [ INFO] [1499183461.465494802]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [turtle-ctrl:47476], waiting... process[kinect2_points_xyzrgb_hd-5]: started with pid [3830] [ INFO] [1499183461.488209664]: Initializing nodelet with 4 worker threads. [ INFO] [1499183461.493001471]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1499183461.571827194]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/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] [1499183462.080563633]: Failed to load nodelet '/kinect2_points_xyzrgb_qhd of type depth_image_proc/point_cloud_xyzrgb to manager kinect2' [FATAL] [1499183462.080585357]: Failed to load nodelet '/kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2' [kinect2-1] process has died [pid 3796, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=kinect2 __log:=/home/.ros/log/198ae5cc-60ce-11e7-9f4d-b8aeed7efe09/kinect2-1.log]. log file: /home/.ros/log/198ae5cc-60ce-11e7-9f4d-b8aeed7efe09/kinect2-1*.log [kinect2_bridge-2] process has died [pid 3797, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/.ros/log/198ae5cc-60ce-11e7-9f4d-b8aeed7efe09/kinect2_bridge-2.log]. log file: /home/.ros/log/198ae5cc-60ce-11e7-9f4d-b8aeed7efe09/kinect2_bridge-2*.log [kinect2_points_xyzrgb_qhd-4] process has died [pid 3799, exit code 255, cmd /opt/ros/kinetic/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/.ros/log/198ae5cc-60ce-11e7-9f4d-b8aeed7efe09/kinect2_points_xyzrgb_qhd-4.log]. log file: /home/.ros/log/198ae5cc-60ce-11e7-9f4d-b8aeed7efe09/kinect2_points_xyzrgb_qhd-4*.log [kinect2_bridge-2] restarting process process[kinect2_bridge-2]: started with pid [3971] [kinect2_points_xyzrgb_qhd-4] restarting process process[kinect2_points_xyzrgb_qhd-4]: started with pid [3972] [ INFO] [1499183462.352468541]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1499183462.355604056]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [turtle-ctrl:48974], waiting... [kinect2_points_xyzrgb_sd-3] process has finished cleanly log file: /home/.ros/log/198ae5cc-60ce-11e7-9f4d-b8aeed7efe09/kinect2_points_xyzrgb_sd-3*.log [kinect2_points_xyzrgb_hd-5] process has finished cleanly log file: /home/.ros/log/198ae5cc-60ce-11e7-9f4d-b8aeed7efe09/kinect2_points_xyzrgb_hd-5*.log [kinect2_points_xyzrgb_sd-3] restarting process process[kinect2_points_xyzrgb_sd-3]: started with pid [5054] [kinect2_points_xyzrgb_hd-5] restarting process process[kinect2_points_xyzrgb_hd-5]: started with pid [5055] ^C[kinect2_points_xyzrgb_hd-5] killing on exit [kinect2_points_xyzrgb_qhd-4] killing on exit [kinect2_points_xyzrgb_sd-3] killing on exit [kinect2_bridge-2] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

The gdb log:

`[Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". [New Thread 0x7fffe799e700 (LWP 9734)] [New Thread 0x7fffe719d700 (LWP 9735)] [New Thread 0x7fffe699c700 (LWP 9736)] [New Thread 0x7fffe619b700 (LWP 9741)] [New Thread 0x7fffe51b0700 (LWP 9742)] [New Thread 0x7fffe49af700 (LWP 9743)] [ INFO] [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: opencl depth_device: -1 reg_method: opencl 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 [New Thread 0x7fffcb351700 (LWP 9764)] [New Thread 0x7fffcab50700 (LWP 9765)] [New Thread 0x7fffca34f700 (LWP 9766)] [New Thread 0x7fffc9b4e700 (LWP 9767)]

Thread 1 "kinect2_bridge" received signal SIGSEGV, Segmentation fault. 0x00007fffcc30d701 in llvm::cl::AddLiteralOption(llvm::cl::Option&, char const*) () from /usr/lib/x86_64-linux-gnu/libLLVM-3.8.so.1 (gdb) bt

0 0x00007fffcc30d701 in llvm::cl::AddLiteralOption(llvm::cl::Option&, char const*) ()

from /usr/lib/x86_64-linux-gnu/libLLVM-3.8.so.1

1 0x00007fffc5e88649 in llvm::PassRegistry::enumerateWith(llvm::PassRegistrationListener*) ()

from /usr/lib/x86_64-linux-gnu/libLLVM-3.6.so.1

2 0x00007fffc5c26716 in ?? () from /usr/lib/x86_64-linux-gnu/libLLVM-3.6.so.1

3 0x00007ffff7de76ba in call_init (l=, argc=argc@entry=1, argv=argv@entry=0x7fffffffd918,

env=env@entry=0x736a50) at dl-init.c:72

4 0x00007ffff7de77cb in call_init (env=0x736a50, argv=0x7fffffffd918, argc=1, l=) at dl-init.c:30

5 _dl_init (main_map=main_map@entry=0x74e6e0, argc=1, argv=0x7fffffffd918, env=0x736a50) at dl-init.c:120

6 0x00007ffff7dec8e2 in dl_open_worker (a=a@entry=0x7fffffffaaa0) at dl-open.c:575

7 0x00007ffff7de7564 in _dl_catch_error (objname=objname@entry=0x7fffffffaa90,

errstring=errstring@entry=0x7fffffffaa98, mallocedp=mallocedp@entry=0x7fffffffaa8f, 
operate=operate@entry=0x7ffff7dec4d0 <dl_open_worker>, args=args@entry=0x7fffffffaaa0) at dl-error.c:187

8 0x00007ffff7debda9 in _dl_open (file=0x7fffc8ee9188 "/usr/lib/x86_64-linux-gnu/beignet//libgbe.so",

mode=-2147483647, caller_dlopen=0x7fffc8ec0d4f, nsid=-2, argc=<optimized out>, argv=<optimized out>, 
env=0x736a50) at dl-open.c:660

9 0x00007ffff19adf09 in dlopen_doit (a=a@entry=0x7fffffffacd0) at dlopen.c:66

10 0x00007ffff7de7564 in _dl_catch_error (objname=0x755d20, errstring=0x755d28, mallocedp=0x755d18,

operate=0x7ffff19adeb0 <dlopen_doit>, args=0x7fffffffacd0) at dl-error.c:187

11 0x00007ffff19ae571 in _dlerror_run (operate=operate@entry=0x7ffff19adeb0 ,

args=args@entry=0x7fffffffacd0) at dlerror.c:163

12 0x00007ffff19adfa1 in __dlopen (file=, mode=) at dlopen.c:87

13 0x00007fffc8ec0d4f in ?? () from /usr/lib/x86_64-linux-gnu/beignet//libcl.so

14 0x00007ffff7de76ba in call_init (l=, argc=argc@entry=1, argv=argv@entry=0x7fffffffd918,

env=env@entry=0x736a50) at dl-init.c:72

15 0x00007ffff7de77cb in call_init (env=0x736a50, argv=0x7fffffffd918, argc=1, l=) at dl-init.c:30

16 _dl_init (main_map=main_map@entry=0x74fb70, argc=1, argv=0x7fffffffd918, env=0x736a50) at dl-init.c:120

17 0x00007ffff7dec8e2 in dl_open_worker (a=a@entry=0x7fffffffafe0) at dl-open.c:575

18 0x00007ffff7de7564 in _dl_catch_error (objname=objname@entry=0x7fffffffafd0,

errstring=errstring@entry=0x7fffffffafd8, mallocedp=mallocedp@entry=0x7fffffffafcf, 
operate=operate@entry=0x7ffff7dec4d0 <dl_open_worker>, args=args@entry=0x7fffffffafe0) at dl-error.c:187

19 0x00007ffff7debda9 in _dl_open (file=0x74e240 "/usr/lib/x86_64-linux-gnu/beignet//libcl.so", mode=-2147483647,

caller_dlopen=0x7fffef77e2fb, nsid=-2, argc=<optimized out>, argv=<optimized out>, env=0x736a50) at dl-open.c:660

20 0x00007ffff19adf09 in dlopen_doit (a=a@entry=0x7fffffffb210) at dlopen.c:66

21 0x00007ffff7de7564 in _dl_catch_error (objname=0x755d20, errstring=0x755d28, mallocedp=0x755d18,

operate=0x7ffff19adeb0 <dlopen_doit>, args=0x7fffffffb210) at dl-error.c:187

22 0x00007ffff19ae571 in _dlerror_run (operate=operate@entry=0x7ffff19adeb0 ,

args=args@entry=0x7fffffffb210) at dlerror.c:163

23 0x00007ffff19adfa1 in __dlopen (file=, mode=) at dlopen.c:87

24 0x00007fffef77e2fb in ?? () from /usr/lib/x86_64-linux-gnu/libOpenCL.so.1`