Closed Chunpeng19 closed 6 years ago
Chunpeng19
commented
6 years ago I have followed the step of instruction. But I cannot run kinect2_bridge correctly. It was always waiting for clients to connect. The only problem is that I am using ROS Kinetic here instead of Indigo. I'm curious if this bridge can run on Kinetic. If so, how could I solve my current problem?
pcoenen
commented
6 years ago It is normal that it is waiting for clients to connect.
Run the following command in another terminal window to see the camera output
rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud
Chunpeng19
commented
6 years ago Thanks so much!
... logging to /home/lynn/.ros/log/5571e2f8-e3c1-11e8-9ec5-f44d30637e8e/roslaunch-lynn-desktop-3538.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://lynn-desktop:38313/
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 [3548] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5571e2f8-e3c1-11e8-9ec5-f44d30637e8e process[rosout-1]: started with pid [3561] started core service [/rosout] process[kinect2-2]: started with pid [3576] process[kinect2_bridge-3]: started with pid [3579] process[kinect2_points_xyzrgb_sd-4]: started with pid [3580] [ INFO] [1541728014.425181243]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1541728014.431834153]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_qhd-5]: started with pid [3586] process[kinect2_points_xyzrgb_hd-6]: started with pid [3599] [ INFO] [1541728014.453286723]: Initializing nodelet with 4 worker threads. [ INFO] [1541728014.475617661]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1541728014.535949275]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/lynn/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 6000 BroadWell U-Processor GT3 (GPU)[Intel] [Info] [OpenCLDepthPacketProcessorImpl] selected device: Intel(R) HD Graphics 6000 BroadWell U-Processor GT3 (GPU)[Intel] [Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program... [Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully 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) Broadwell - 1.7.0 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 8 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @3:2 with serial 035952434347 [Info] [Freenect2Impl] found 1 devices [ INFO] [1541728015.149309701]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1541728015.149355191]: [Kinect2Bridge::initDevice] 0: 035952434347 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1541728015.305319113]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1541728015.664821589]: [Kinect2Bridge::initDevice] device serial: 035952434347 [ INFO] [1541728015.664935429]: [Kinect2Bridge::initDevice] device firmware: 4.0.3917.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program... [Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully [ WARN] [1541728016.263573505]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1541728016.263640859]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1541728016.263683249]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1541728016.263713775]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1541728016.296849545]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1541728016.296936194]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1541728016.303854065]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1541728016.303919612]: [DepthRegistrationOpenCL::init] 0: Intel(R) HD Graphics 6000 BroadWell U-Processor GT3 [ INFO] [1541728016.303960350]: [DepthRegistrationOpenCL::init] selected device: Intel(R) HD Graphics 6000 BroadWell U-Processor GT3 [ INFO] [1541728016.408762444]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1541728016.408811727]: [DepthRegistrationOpenCL::init] 0: Intel(R) HD Graphics 6000 BroadWell U-Processor GT3 [ INFO] [1541728016.408843086]: [DepthRegistrationOpenCL::init] selected device: Intel(R) HD Graphics 6000 BroadWell U-Processor GT3 [ INFO] [1541728016.531166047]: [Kinect2Bridge::main] waiting for clients to connect ^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 [kinect2-2] killing on exit [kinect2_bridge-3] killing on exit [ INFO] [1541728019.238412465]: Unloading nodelet /kinect2_bridge from manager kinect2 [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] already closed, doing nothing [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done