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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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kinect2_bridge.launch issue #475

Open csyslcp opened 6 years ago

csyslcp commented 6 years ago

I got my kinect2 working previously but then it seems that I broke my system. And when I roslaunch kinect2_bridge kinect2_bridge.launch. It meet some fatal problems.

:

... logging to /home/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/roslaunch-dgjks-26210.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://dgjks:45657/

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 [26222] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 731dc518-10ce-11e8-8ed1-a0c5894e2889 process[rosout-1]: started with pid [26235] started core service [/rosout] process[kinect2-2]: started with pid [26246] process[kinect2_bridge-3]: started with pid [26253] process[kinect2_points_xyzrgb_sd-4]: started with pid [26254] process[kinect2_points_xyzrgb_qhd-5]: started with pid [26256] [ INFO] [1518533951.946963780]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1518533951.949422291]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_hd-6]: started with pid [26269] [ INFO] [1518533951.969126134]: Initializing nodelet with 8 worker threads. [ INFO] [1518533951.970471302]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1518533951.999968828]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/dgjks/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] [OpenCLDepthPacketProcessorImpl] devices: [Info] [OpenCLDepthPacketProcessorImpl] 0: Intel(R) HD Graphics Skylake Halo GT4 (GPU)[Intel] [Info] [OpenCLDepthPacketProcessorImpl] selected device: Intel(R) HD Graphics Skylake Halo GT4 (GPU)[Intel] [Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program... [Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 8 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:3 with serial 007988365247 [Info] [Freenect2Impl] found 1 devices [ INFO] [1518533952.627013851]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1518533952.627057084]: [Kinect2Bridge::initDevice] 0: 007988365247 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 60833792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1518533952.721266156]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1518533953.084428506]: [Kinect2Bridge::initDevice] device serial: 007988365247 [ INFO] [1518533953.084535736]: [Kinect2Bridge::initDevice] device firmware: 4.0.3916.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [FATAL] [1518533953.436930062]: Failed to load nodelet '/kinect2_points_xyzrgb_hdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1518533953.436972423]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2' [FATAL] [1518533953.436975238]: Failed to load nodelet '/kinect2_points_xyzrgb_qhdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1518533953.437066215]: Failed to load nodelet '/kinect2_points_xyzrgb_sdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [kinect2-2] process has died [pid 26246, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager name:=kinect2 log:=/home/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2-2.log]. log file: /home/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2-2.log [kinect2_bridge-3] process has died [pid 26253, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 name:=kinect2_bridge __log:=/home/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2_bridge-3.log]. log file: /home/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2_bridge-3*.log [kinect2_bridge-3] restarting process process[kinect2_bridge-3]: started with pid [26407] [ INFO] [1518533953.677877104]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1518533953.680948464]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [dgjks:47998], waiting... [kinect2_points_xyzrgb_sd-4] process has died [pid 26254, 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/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2_points_xyzrgb_sd-4.log]. log file: /home/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2_points_xyzrgb_sd-4*.log [kinect2_points_xyzrgb_qhd-5] process has died [pid 26256, 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/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2_points_xyzrgb_qhd-5.log]. log file: /home/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2_points_xyzrgb_qhd-5*.log [kinect2_points_xyzrgb_hd-6] process has died [pid 26269, 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/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2_points_xyzrgb_hd-6.log]. log file: /home/dgjks/.ros/log/731dc518-10ce-11e8-8ed1-a0c5894e2889/kinect2_points_xyzrgb_hd-6*.log [kinect2_points_xyzrgb_sd-4] restarting process process[kinect2_points_xyzrgb_sd-4]: started with pid [26423] [kinect2_points_xyzrgb_qhd-5] restarting process process[kinect2_points_xyzrgb_qhd-5]: started with pid [26424] [kinect2_points_xyzrgb_hd-6] restarting process process[kinect2_points_xyzrgb_hd-6]: started with pid [26426]

What should I do... Thanks for you help!

pholthaus commented 6 years ago

Same here, anyone has an idea what happens? I followed the installation instructions on a fresh system.

pholthaus commented 6 years ago

Okay, I got it working by connecting to the computer via ssh without using X forwarding.

15061885704 commented 6 years ago

@pholthau hello,can you tell me how did you make it about "via ssh without using X forwarding"?I am a new here in this area and I would appreciate it if you can help me, thank you.

pholthaus commented 6 years ago

@15061885704 sure. I accessed the computer with the Kinect (called pc2) remotely from a different machine. In my first attempt, i typed in ssh -X pc2. When using -X all commands that open a new window (X window) will be displayed on the machine from which you are connecting. This is called X forwarding. If you do not use -X but type in ssh pc2 only, windows are not displayed at all (and the program closes with an error) or they are displayed on the remote machine's graphical output.

In my case, using only ssh pc2 worked fine. I assume that X forwarding doesn't mix very well with OpenGL or some other part of the image pipeline. If you do not have a setup where you connect remotely to the PC with the Kinect attached, this should not affect you.

15061885704 commented 6 years ago

@pholthau well,I got it and now it works fine with me,thank you!

pholthaus commented 6 years ago

Good to hear!