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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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Packet buffer is NULL #499

Open frushton opened 6 years ago

frushton commented 6 years ago

I have my kinectv2 plugged into a USB 3.0 port, and am getting the following. I get the repeating error "[DepthPacketStreamParser] Packet buffer is NULL", and I also get "[CudaDepthPacketProcessorImpl] cudaGetDeviceCount(&deviceCount): unknown error". I have tried googling, but that got me nowhere. Any thoughts?

... logging to /home/e4e/.ros/log/c71f040c-9764-11e8-88a2-9cb6d0177589/roslaunch-e4e-GS63VR-6RF-18319.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://e4e-GS63VR-6RF:36731/

SUMMARY

PARAMETERS

NODES /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) / imu_node (tinkerforge_sensors/tinkerforge_sensors_node) 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) rgb_to_imu_tf (tf/static_transform_publisher) rosbag_record_kinectv2 (rosbag/record)

auto-starting new master process[master]: started with pid [18329] ROS_MASTER_URI=http://localhost:11311

setting /run_id to c71f040c-9764-11e8-88a2-9cb6d0177589 process[rosout-1]: started with pid [18342] started core service [/rosout] process[rosbag_record_kinectv2-2]: started with pid [18359] process[kinect2-3]: started with pid [18360] process[kinect2_bridge-4]: started with pid [18367] process[kinect2_points_xyzrgb_sd-5]: started with pid [18384] process[kinect2_points_xyzrgb_qhd-6]: started with pid [18403] [ INFO] [1533331973.413007328]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1533331973.417676733]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_hd-7]: started with pid [18420] process[imu_node-8]: started with pid [18435] process[rgb_to_imu_tf-9]: started with pid [18447] process[rtabmap/rgbd_odometry-10]: started with pid [18470] process[rtabmap/rtabmap-11]: started with pid [18496] process[rtabmap/rtabmapviz-12]: started with pid [18521] [ INFO] [1533331973.468884969]: Initializing nodelet with 8 worker threads. [ INFO] [1533331973.482252910]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1533331973.551057648]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/e4e/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: 8 min_depth: 0.1 queue_size: 5 bilateral_filter: true edge_aware_filter: true publish_tf: true base_name_tf: kinect2 worker_threads: 4 [ INFO] [1533331973.743803294]: Starting node... [ INFO] [1533331973.804525700]: Initializing nodelet with 8 worker threads. [ INFO] [1533331973.804985881]: Initializing nodelet with 8 worker threads. [Error] [CudaDepthPacketProcessorImpl] cudaGetDeviceCount(&deviceCount): unknown error [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 8 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:19 with serial 169765140447 [Info] [Freenect2Impl] found 1 devices [ INFO] [1533331973.829692704]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1533331973.829737190]: [Kinect2Bridge::initDevice] 0: 169765140447 (selected) [ INFO] [1533331973.832932837]: Starting node... [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1533331973.920674954]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [ INFO] [1533331973.930604534]: rtabmapviz: Using configuration from "/home/e4e/.ros/rtabmap_gui.ini" [ INFO] [1533331974.152765650]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1533331974.152791870]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1533331974.152803582]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1533331974.152814038]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false [ INFO] [1533331974.152823095]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true [ INFO] [1533331974.152832893]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1533331974.152843780]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1533331974.152853122]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1533331974.182776257]: rtabmap: frame_id = kinect2_link [ INFO] [1533331974.182810715]: rtabmap: map_frame_id = map [ INFO] [1533331974.182835593]: rtabmap: tf_delay = 0.050000 [ INFO] [1533331974.182847950]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1533331974.182860886]: rtabmap: odom_sensor_sync = false [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Info] [Freenect2DeviceImpl] started [ INFO] [1533331974.257529078]: [Kinect2Bridge::initDevice] device serial: 169765140447 [ INFO] [1533331974.257556119]: [Kinect2Bridge::initDevice] device firmware: 4.0.3916.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL [Error] [DepthPacketStreamParser] Packet buffer is NULL

alliansmover commented 6 years ago

@frushton Hello my friend , I have the same problem.if you solved it?

heyonghong commented 6 years ago

hi my friend ,i have the same problem, are you solved it?

fmacrae commented 5 years ago

Same here on ubuntu 16.04 with kinetic

steps to reproduce:

rosrun kinect2_viewer kinect2_viewer sd cloud

roslaunch kinect2_bridge kinect2_bridge.launch

fmacrae commented 5 years ago

LOL it's the OpenCV intall being used by default

You can fix by switch to CPU or fix the openCV install to the version they like:

rosrun kinect2_bridge kinect2_bridge _depth_method:=opengl _reg_method:=cpu

fmacrae commented 5 years ago

Check out this issue:

https://github.com/code-iai/iai_kinect2/issues/371

cardboardcode commented 5 years ago

[Solution]

In issue #371, as highlighted by @fmacrae and @leviresende,

the solution is to simply do the following:

  1. Go to kinect2_bridge.launch under kinect2_bridge package.
  2. Change depth_method parameter value to opengl in line 12 of the file.
  3. Change reg_method parameter value to cpu in line 14 of the file.