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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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kinect bridge fails when calibration folder exists #552

Open muttistefano opened 4 years ago

muttistefano commented 4 years ago

Hello, i used extensively the kinect bridge package without the calibration folder and it always worked well. Now, when i create the folder with the 4 yaml files the bridge launch crashes, failing to load nodelets. If i delete the /iai_kinect2/kinect2_bridge/data/005330362047 folder everything goes well, even if i leave the empy folder everything crashes.

`started roslaunch server http://192.169.0.66:43983/

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 [23039] ROS_MASTER_URI=http://192.169.0.66:11311

setting /run_id to 3ddba2f6-53ea-11ea-bb1e-005056c00001 process[rosout-1]: started with pid [23050] started core service [/rosout] process[kinect2-2]: started with pid [23053] process[kinect2_bridge-3]: started with pid [23058] process[kinect2_points_xyzrgb_sd-4]: started with pid [23059] process[kinect2_points_xyzrgb_qhd-5]: started with pid [23060] [ INFO] [1582207612.173105611] [/tmp/binarydeb/ros-melodic-nodelet-1.9.16/src/nodelet.cpp] [196]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1582207612.174804274] [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service.cpp] [80]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_hd-6]: started with pid [23066] [ INFO] [1582207612.190015174] [/tmp/binarydeb/ros-melodic-nodelet-1.9.16/src/loader.cpp] [233]: Initializing nodelet with 8 worker threads. [ INFO] [1582207612.195387027] [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service.cpp] [122]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1582207612.339866234] [/home/kolmogorov/Documents/ROS/kinect/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp] [289]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: 005330362047 fps_limit: -1 calib_path: /home/kolmogorov/Documents/ROS/kinect/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: cuda depth_device: -1 reg_method: cpu 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 1050 @ 1493MHz Memory 4042MB [Info] [CudaDepthPacketProcessorImpl] selected device 0 libva info: VA-API version 1.1.0 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_1_1 libva info: va_openDriver() returns 0 [Info] [VaapiRgbPacketProcessorImpl] driver: Intel i965 driver for Intel(R) Kaby Lake - 2.1.0 [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 9 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:9 with serial 005330362047 [Info] [Freenect2Impl] found 1 devices [ INFO] [1582207612.471291621] [/home/kolmogorov/Documents/ROS/kinect/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp] [538]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1582207612.471367568] [/home/kolmogorov/Documents/ROS/kinect/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp] [543]: [Kinect2Bridge::initDevice] 0: 005330362047 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1582207612.582256138] [/home/kolmogorov/Documents/ROS/kinect/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp] [567]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1582207612.900348430] [/home/kolmogorov/Documents/ROS/kinect/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp] [576]: [Kinect2Bridge::initDevice] device serial: 005330362047 [ INFO] [1582207612.900460112] [/home/kolmogorov/Documents/ROS/kinect/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp] [577]: [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] [1582207613.776513222] [/tmp/binarydeb/ros-melodic-nodelet-1.9.16/src/nodelet.cpp] [228]: Failed to load nodelet '/kinect2_points_xyzrgb_qhdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [FATAL] [1582207613.776549097] [/tmp/binarydeb/ros-melodic-nodelet-1.9.16/src/nodelet.cpp] [228]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2' [FATAL] [1582207613.776558141] [/tmp/binarydeb/ros-melodic-nodelet-1.9.16/src/nodelet.cpp] [228]: Failed to load nodelet '/kinect2_points_xyzrgb_sdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2' [kinect2-2] process has died [pid 23053, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=kinect2 log:=/home/kolmogorov/.ros/log/3ddba2f6-53ea-11ea-bb1e-005056c00001/kinect2-2.log]. log file: /home/kolmogorov/.ros/log/3ddba2f6-53ea-11ea-bb1e-005056c00001/kinect2-2*.log [kinect2_bridge-3] process has died [pid 23058, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 name:=kinect2_bridge log:=/home/kolmogorov/.ros/log/3ddba2f6-53ea-11ea-bb1e-005056c00001/kinect2_bridge-3.log]. log file: /home/kolmogorov/.ros/log/3ddba2f6-53ea-11ea-bb1e-005056c00001/kinect2_bridge-3*.log [kinect2_points_xyzrgb_sd-4] process has died [pid 23059, exit code 255, cmd /opt/ros/melodic/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/kolmogorov/.ros/log/3ddba2f6-53ea-11ea-bb1e-005056c00001/kinect2_points_xyzrgb_sd-4.log]. log file: /home/kolmogorov/.ros/log/3ddba2f6-53ea-11ea-bb1e-005056c00001/kinect2_points_xyzrgb_sd-4*.log [kinect2_points_xyzrgb_qhd-5] process has died [pid 23060, exit code 255, cmd /opt/ros/melodic/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/kolmogorov/.ros/log/3ddba2f6-53ea-11ea-bb1e-005056c00001/kinect2_points_xyzrgb_qhd-5.log]. log file: /home/kolmogorov/.ros/log/3ddba2f6-53ea-11ea-bb1e-005056c00001/kinect2_points_xyzrgb_qhd-5*.log [kinect2_bridge-3] restarting process process[kinect2_bridge-3]: started with pid [23158] [kinect2_points_xyzrgb_sd-4] restarting process process[kinect2_points_xyzrgb_sd-4]: started with pid [23159] [kinect2_points_xyzrgb_qhd-5] restarting process process[kinect2_points_xyzrgb_qhd-5]: started with pid [23160] ` Thanks