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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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Failed to load nodelet '/kinect2_points_xyzrgb_hd` #474

Open QinZiwen opened 6 years ago

QinZiwen commented 6 years ago

When I compile iai_kinect2, there is a warning（I installed opencv3.2.0）

[ 92%] Building CXX object turtlebot_exploration_3d/CMakeFiles/turtlebot_exploration_3d.dir/src/gpregressor.cpp.o
/usr/bin/ld: warning: libopencv_imgproc.so.3.2, needed by /home/turtlebot/catkin_ws/devel/lib/libkinect2_registration.so, may conflict with libopencv_imgproc.so.2.4
[ 92%] Built target kinect2_bridge
[100%] Building CXX object turtlebot_exploration_3d/CMakeFiles/turtlebot_exploration_3d.dir/src/covMaterniso3.cpp.o
[100%] Built target kinect2_calibration
Linking CXX executable /home/turtlebot/catkin_ws/devel/lib/kinect2_viewer/kinect2_viewer
/usr/bin/ld: warning: libopencv_calib3d.so.2.4, needed by /usr/lib/x86_64-linux-gnu/libopencv_contrib.so.2.4.8, may conflict with libopencv_calib3d.so.3.2
[100%] Built target kinect2_viewer

When run “roslaunch kinect2_bridge kinect2_bridge.launch”,there are some mistakes,of which the main one is "Failed to load nodelet '/kinect2_points_xyzrgb_hdof type depth_image_proc/point_cloud_xyzrgb to manager `kinect2'"

My log:

$ roslaunch kinect2_bridge kinect2_bridge.launch
... logging to /home/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/roslaunch-turtlebot-OMEN-by-HP-Laptop-19904.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://localhost:50036/

SUMMARY
========

PARAMETERS
 * /kinect2_bridge/base_name: kinect2
 * /kinect2_bridge/base_name_tf: kinect2
 * /kinect2_bridge/bilateral_filter: True
 * /kinect2_bridge/calib_path: /home/turtlebot/c...
 * /kinect2_bridge/depth_device: -1
 * /kinect2_bridge/depth_method: default
 * /kinect2_bridge/edge_aware_filter: True
 * /kinect2_bridge/fps_limit: -1.0
 * /kinect2_bridge/jpeg_quality: 90
 * /kinect2_bridge/max_depth: 12.0
 * /kinect2_bridge/min_depth: 0.1
 * /kinect2_bridge/png_level: 1
 * /kinect2_bridge/publish_tf: False
 * /kinect2_bridge/queue_size: 5
 * /kinect2_bridge/reg_device: -1
 * /kinect2_bridge/reg_method: default
 * /kinect2_bridge/sensor: 
 * /kinect2_bridge/use_png: False
 * /kinect2_bridge/worker_threads: 4
 * /kinect2_points_xyzrgb_hd/queue_size: 5
 * /kinect2_points_xyzrgb_qhd/queue_size: 5
 * /kinect2_points_xyzrgb_sd/queue_size: 5
 * /rosdistro: indigo
 * /rosversion: 1.11.21

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 [19916]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1faac9a0-0c03-11e8-be68-c8d3ffd835e0
process[rosout-1]: started with pid [19929]
started core service [/rosout]
process[kinect2-2]: started with pid [19940]
process[kinect2_bridge-3]: started with pid [19946]
process[kinect2_points_xyzrgb_sd-4]: started with pid [19948]
process[kinect2_points_xyzrgb_qhd-5]: started with pid [19949]
[ INFO] [1518006819.521909602]: 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 [19958]
[ INFO] [1518006819.532030374]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting...
[ INFO] [1518006819.547713062]: Initializing nodelet with 8 worker threads.
[ INFO] [1518006819.553144504]: waitForService: Service [/kinect2/load_nodelet] is now available.
[ INFO] [1518006819.602003481]: [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/turtlebot/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 GTX 1070 @ 1645MHz Memory 8105MB
[Info] [CudaDepthPacketProcessorImpl] selected device 0
libva info: VA-API version 0.39.0
libva info: va_getDriverName() returns -1
libva error: va_getDriverName() failed with unknown libva error,driver_name=(null)
[Error] [VaapiRgbPacketProcessorImpl] vaInitialize(display, &major_ver, &minor_ver): unknown libva error
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 8 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @2:7 with serial 021468743547
[Info] [Freenect2Impl] found 1 devices
[ INFO] [1518006819.811982078]: [Kinect2Bridge::initDevice] Kinect2 devices found: 
[ INFO] [1518006819.812018512]: [Kinect2Bridge::initDevice]   0: 021468743547 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
[ INFO] [1518006819.909132117]: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[ INFO] [1518006820.258385058]: [Kinect2Bridge::initDevice] device serial: 021468743547
[ INFO] [1518006820.258468509]: [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] [1518006820.694899790]: Failed to load nodelet '/kinect2_points_xyzrgb_sd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'
[FATAL] [1518006820.694899793]: Failed to load nodelet '/kinect2_points_xyzrgb_qhd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'
[FATAL] [1518006820.695291095]: Failed to load nodelet '/kinect2_bridge` of type `kinect2_bridge/kinect2_bridge_nodelet` to manager `kinect2'
[FATAL] [1518006820.696503448]: Failed to load nodelet '/kinect2_points_xyzrgb_hd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'
[kinect2-2] process has died [pid 19940, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=kinect2 __log:=/home/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2-2.log].
log file: /home/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2-2*.log
[kinect2_bridge-3] process has died [pid 19946, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2_bridge-3.log].
log file: /home/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2_bridge-3*.log
[kinect2_points_xyzrgb_sd-4] process has died [pid 19948, 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/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2_points_xyzrgb_sd-4.log].
log file: /home/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2_points_xyzrgb_sd-4*.log
[kinect2_points_xyzrgb_qhd-5] process has died [pid 19949, 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/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2_points_xyzrgb_qhd-5.log].
log file: /home/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2_points_xyzrgb_qhd-5*.log
[kinect2_points_xyzrgb_hd-6] process has died [pid 19958, 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/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2_points_xyzrgb_hd-6.log].
log file: /home/turtlebot/.ros/log/1faac9a0-0c03-11e8-be68-c8d3ffd835e0/kinect2_points_xyzrgb_hd-6*.log
[kinect2_bridge-3] restarting process
process[kinect2_bridge-3]: started with pid [20097]
[kinect2_points_xyzrgb_sd-4] restarting process
process[kinect2_points_xyzrgb_sd-4]: started with pid [20098]
[kinect2_points_xyzrgb_qhd-5] restarting process
process[kinect2_points_xyzrgb_qhd-5]: started with pid [20099]
[kinect2_points_xyzrgb_hd-6] restarting process
process[kinect2_points_xyzrgb_hd-6]: started with pid [20100]
[ INFO] [1518006820.960580471]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings:
[ INFO] [1518006820.964889931]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [localhost:38961], waiting...
^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
done
QinZiwen commented 6 years ago

When I install opencv2.4.13, the problem is solved

Jackey-Huo commented 5 years ago

Hi is there any progress in the issue? I meet the same problem

florianspy commented 2 years ago

I found out you can even use opencv 3.2 but only when cv bridge was also build with opencv 3.2 which is the case when you use the package for ros melodic. So if you have this issue above the opencv version used for building kinect bridge and building cv_bridge of ros do not match. So make them match and this will solve the above issue.