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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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roslaunch kinect2_bridge kinect2_bridge.launch error #517

Closed heyonghong closed 5 years ago

heyonghong commented 5 years ago

Hi,guys. I have some troubles when i run roslaunch kinect2_bridge kinect2_bridge.launch. I don't know if i had successful installed libfreenect2,this information maybe some use.

~/libfreenect2/build$ ./bin/Protonect Environment variables: LOGFILE= Usage: ./bin/Protonect [-gpu=] [gl | cl | clkde | cuda | cudakde | cpu] [] [-noviewer] [-norgb | -nodepth] [-help] [-version] [-frames ] To pause and unpause: pkill -USR1 Protonect [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 13 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:7 with serial 004478565147 [Info] [Freenect2Impl] found 1 devices 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] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 60833792 [Info] [Freenect2DeviceImpl] opened [Info] [Freenect2DeviceImpl] starting... [Debug] [Freenect2DeviceImpl] status 0x090000: 9729 [Debug] [Freenect2DeviceImpl] status 0x090000: 9731 [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started device serial: 004478565147 device firmware: 2.3.3913.0 [Debug] [DepthPacketStreamParser] not all subsequences received 0 [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Info] [DepthPacketStreamParser] 2 packets were lost [Debug] [DepthPacketStreamParser] not all subsequences received 511 [Info] [DepthPacketStreamParser] 1 packets were lost [Info] [OpenGLDepthPacketProcessor] avg. time: 5.66884ms -> ~176.403Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.7893ms -> ~50.5325Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 5.05045ms -> ~198.002Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.6708ms -> ~50.8368Hz ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// sudo apt-get install openni2-utils && sudo make install-openni2 && NiViewer2 [sudo] password for hah: Reading package lists... Done Building dependency tree
Reading state information... Done openni2-utils is already the newest version (2.2.0.33+dfsg-6). 0 upgraded, 0 newly installed, 0 to remove and 173 not upgraded. [ 5%] Built target generate_resources_tool [ 76%] Built target freenect2 [100%] Built target freenect2-openni2 [100%] Built target install-openni2 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 13 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:7 with serial 004478565147 [Info] [Freenect2Impl] found 1 devices 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] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 60833792 [Info] [Freenect2DeviceImpl] opened [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [Info] [DepthPacketStreamParser] 14 packets were lost [Info] [DepthPacketStreamParser] 8 packets were lost [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.2773ms -> ~51.8744Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 15.2503ms -> ~65.5725Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.5636ms -> ~51.1153Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 5.35249ms -> ~186.829Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.5298ms -> ~51.2037Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 6.22999ms -> ~160.514Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.5334ms -> ~51.1944Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 6.75573ms -> ~148.023Hz

~/catkin_ws$ roslaunch kinect2_bridge kinect2_bridge.launch ... logging to /home/hah/.ros/log/4c42b5a4-f839-11e8-b2d1-20e9170976c4/roslaunch-hah-11771.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://hah:40215/

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 [11781] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4c42b5a4-f839-11e8-b2d1-20e9170976c4 process[rosout-1]: started with pid [11794] started core service [/rosout] process[kinect2-2]: started with pid [11810] process[kinect2_bridge-3]: started with pid [11812] process[kinect2_points_xyzrgb_sd-4]: started with pid [11813] process[kinect2_points_xyzrgb_qhd-5]: started with pid [11814] process[kinect2_points_xyzrgb_hd-6]: started with pid [11820] [ INFO] [1543978561.863895234]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1543978561.868896190]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... [ INFO] [1543978561.883040988]: Initializing nodelet with 20 worker threads. [ INFO] [1543978561.889897268]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1543978561.939840754]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/hah/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 1080 Ti @ 1582MHz Memory 11175MB [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] 13 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:7 with serial 004478565147 [Info] [Freenect2Impl] found 1 devices [ INFO] [1543978562.197030794]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1543978562.197062527]: [Kinect2Bridge::initDevice] 0: 004478565147 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1543978562.337068169]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1543978562.673209639]: [Kinect2Bridge::initDevice] device serial: 004478565147 [ INFO] [1543978562.673265468]: [Kinect2Bridge::initDevice] device firmware: 2.3.3913.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [ WARN] [1543978562.897048874]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1543978562.897106600]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1543978562.897142591]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1543978562.897172582]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1543978562.932598886]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1543978562.932634751]: [DepthRegistration::New] Using CPU registration method! [ INFO] [1543978563.001247184]: [Kinect2Bridge::main] waiting for clients to connect

I guess if USB error, I don't konw how to solve this , it have been confusing me two weeks . thanks everybody.