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cvar-upm / cvg_ardrone2_ibvs

Vision based control for object following in UAVs
http://robotics.asu.edu/ardrone2_ibvs/
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no image appearing in open TLD GUI window #12

Open sp13-bet-107 opened 8 years ago

sp13-bet-107 commented 8 years ago

The package is compiling without any error and it also shows the video feed back but it dosent shows any image in Open TLD GUi window. i have followed the instructions and pressed F5 many times but nothing appear in that window. I have installed open CV bridge but i haven't installed open CV in my system. Is that the reason why i am not getting any image in that window. Any help please?? @jespestana

jespestana commented 8 years ago

A version of opencv is usually installed together with ROS, so you probably have it installed. What version of Ubuntu are you using? Do you have any error shown in the terminal tabs? Could you try to run the latest version of ros_opentld separately ( https://github.com/Ronan0912/ros_opentld ).

sp13-bet-107 commented 8 years ago

hey @jespestana.. .. thanks for replying... i am using ubuntu 14.04. yes i have tried to run latest version of ros_opentld separately but i am still not able to get anything in open tld window. The error that i get is master has started, initiating launch ... logging to /home/hassan/.ros/log/3b05449e-afcc-11e6-b0ab-54271efd7e02/roslaunch-hassan-7G-Series-3874.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://hassan-7G-Series:40675/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES /drone1/ardrone/front/ image_proc (image_proc/image_proc) /drone1/ ardrone_driver (ardrone_autonomy/ardrone_driver)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found WARNING: Package name "driverParrotARDroneROSModule" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneModuleInterfaceROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneModuleROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneMsgsROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "referenceFrames" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneInterfaceROSModule" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneEKFStateEstimatorROSModule" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneEKFStateEstimator" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneOpenTLDTranslatorROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneLoggerROSModule" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "lib_cvgloggerROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneIBVSController" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneIBVSControllerROSModule" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. WARNING: Package name "droneTrackerEyeROSModule" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. process[drone1/ardrone_driver-1]: started with pid [4219] process[drone1/ardrone/front/image_proc-2]: started with pid [4249] Wait authentification Wait authentification Wait authentification ===================+> 192.168.1.1 [ INFO] [1479720673.619981603]: ~cov/imu_la set to [0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1] [ INFO] [1479720673.623556769]: ~cov/imu_av set to [1, 0, 0, 0, 1, 0, 0, 0, 1] [ INFO] [1479720673.643694395]: ~cov/imu_or set to [1, 0, 0, 0, 1, 0, 0, 0, 100000] [ WARN] [1479720673.663994068]: IMU Caliberation has been deprecated since 1.4. Deleting Profile -cea48d22 Deleting Application -e182b69b Input device Teleop added Starting thread video_stage Starting thread video_recorder

video stage thread initialisation

Video multisocket : init 2 sockets Video multisocket : connecting socket 0 on port 0 UDP Video multisocket : connecting socket 1 on port 5555 TCP Starting thread update_ros Thread update_ros started Set IP_TOS ok Starting thread navdata_update Video recorder thread initialisation Starting thread ardrone_control PA : MEMORY SPACE ALLOWED : 40 MB Start thread thread_academy_download Academy download stage resumed Start thread thread_academy_upload Start thread thread_academy Thread navdata_update in progress... Timeout when reading navdatas - resending a navdata request on port 5554 Academy download stage resumed Academy download stage paused Sending default CAT_APPLI settings Sending default CAT_USER settings Sending default CAT_SESSION settings [ INFO] [1479720679.299476192]: SEND: CAT_COMMON/navdata_demo = 1.000000 (DEFAULT = 0.000000) [ INFO] [1479720679.299593435]: SEND: CAT_COMMON/altitude_max = 7000.000000 (DEFAULT = 3000.000000) [ INFO] [1479720679.299655158]: SEND: CAT_APPLI/navdata_options = 6291465.000000 (DEFAULT = 65537.000000) [ INFO] [1479720679.299694070]: SEND: CAT_USER/euler_angle_max = 0.210000 (DEFAULT = 0.209440) [ INFO] [1479720679.299733952]: SEND: CAT_USER/control_vz_max = 1000.000000 (DEFAULT = 700.000000) [ INFO] [1479720679.299779786]: SEND: CAT_USER/control_yaw = 1.750000 (DEFAULT = 1.745329) [ INFO] [1479720679.299821500]: SEND: CAT_USER/indoor_euler_angle_max = 0.210000 (DEFAULT = 0.209440) [ INFO] [1479720679.299871610]: SEND: CAT_USER/indoor_control_vz_max = 1000.000000 (DEFAULT = 700.000000) [ INFO] [1479720679.299908661]: SEND: CAT_USER/indoor_control_yaw = 1.750000 (DEFAULT = 1.745329) [ INFO] [1479720679.299948621]: SEND: CAT_USER/outdoor_euler_angle_max = 0.210000 (DEFAULT = 0.349066) [ INFO] [1479720679.299986812]: SEND: CAT_USER/outdoor_control_yaw = 1.750000 (DEFAULT = 3.490659) [ INFO] [1479720679.300024945]: SEND: CAT_SESSION/video_codec = 129.000000 (DEFAULT = 32.000000) [ INFO] [1479720679.300069874]: SEND: CAT_APPLI/bitrate_ctrl_mode = 1.000000 (DEFAULT = 0.000000) [ WARN] [1479720679.572325799]: There is something wrong with the magnetometer readings (Magnitude is extremely small). [ INFO] [1479720679.586752077]: Successfully connected to 'My ARDrone' (AR-Drone 2.0 - Firmware: 2.4.8) - Battery(%): 0 [ INFO] [1479720679.586988857]: Navdata Publish Settings: [ INFO] [1479720679.587149114]: Legacy Navdata Mode: On [ INFO] [1479720679.587310582]: ROS Loop Rate: 50 Hz [ INFO] [1479720679.587471176]: Realtime Navdata Publish: On [ INFO] [1479720679.587623437]: Realtime Video Publish: Off [ INFO] [1479720679.587767420]: Drone Navdata Send Speed: 15Hz (navdata_demo=1) [ INFO] [1479720679.587992011]: using default calibration URL [ INFO] [1479720679.588186666]: camera calibration URL: file:///home/hassan/.ros/camera_info/ardrone_front.yaml [ INFO] [1479720679.588438809]: Unable to open camera calibration file [/home/hassan/.ros/camera_info/ardrone_front.yaml] [ WARN] [1479720679.588612863]: Camera calibration file /home/hassan/.ros/camera_info/ardrone_front.yaml not found. [ INFO] [1479720679.588770710]: using default calibration URL [ INFO] [1479720679.588930254]: camera calibration URL: file:///home/hassan/.ros/camera_info/ardrone_bottom.yaml [ INFO] [1479720679.589097781]: Unable to open camera calibration file [/home/hassan/.ros/camera_info/ardrone_bottom.yaml] [ WARN] [1479720679.589252661]: Camera calibration file /home/hassan/.ros/camera_info/ardrone_bottom.yaml not found. [ERROR] [1479720679.601005205]: Rectified topic '/drone1/ardrone/front/image_rect_color' requested but camera publishing '/drone1/ardrone/front/camera_info' is uncalibrated [ERROR] [1479720709.621750849]: Rectified topic '/drone1/ardrone/front/image_rect_color' requested but camera publishing '/drone1/ardrone/front/camera_info' is uncalibrated [ERROR] [1479720739.674112963]: Rectified topic '/drone1/ardrone/front/image_rect_color' requested but camera publishing '/drone1/ardrone/front/camera_info' is uncalibrated [ERROR] [1479720769.710401023]: Rectified topic '/drone1/ardrone/front/image_rect_color' requested but camera publishing '/drone1/ardrone/front/camera_info' is uncalibrated

jespestana commented 8 years ago

Hi, I think that you need to calibrate the camera of the AR Drone 2. Or otherwise use the standard calibration for this drone. You need to add the calibration files to the place noted on the error messages:

Without the camera calibration, the images cannot be rectified.

Can you check whether the topic '/drone1/ardrone/front/image_raw' is published? Once you add the calibration file for the front camera, can you check whether the topic '/drone1/ardrone/front/image_rect_color' is published?

sp13-bet-107 commented 8 years ago

hey @jespestana i have found a folder named as camera_calibration in my opt directory and it contains files named as cameracalibrator.py cameracheck.py and tarfile_calibration.py . but i donnt know where to place them as i am unable to find the path 

/home/hassan/.ros/camera_info/ardrone_front.yaml
/home/hassan/.ros/camera_info/ardrone_bottom.yaml

and when i tried to run these files i am getting this error hassan@hassan-7G-Series:~$ rosrun camera_calibration cameracalibrator.py --size [SIZE] --square [SQUARESIZE] image:=/ardrone/front/image_raw camera:=/ardrone/front

Traceback (most recent call last): File "/opt/ros/indigo/lib/camera_calibration/cameracalibrator.py", line 464, in main() File "/opt/ros/indigo/lib/camera_calibration/cameracalibrator.py", line 412, in main size = tuple([int(c) for c in sz.split('x')]) ValueError: invalid literal for int() with base 10: '[SIZE]' hassan@hassan-7G-Series:~$

jespestana commented 8 years ago

Hi again,

Follow the tutorials from ROS to make a monocular camera calibration. http://wiki.ros.org/camera_calibration

Then add the resulting calibration files to the specified locations: cd ~/.ros mkdir camera_info Then copy the calibration files to: /home/hassan/.ros/camera_info/ardrone_front.yaml /home/hassan/.ros/camera_info/ardrone_bottom.yaml

XidianLemon commented 7 years ago

the project already has two calibration files , why do you let him calibration the camera again ? @jespestana

jespestana commented 7 years ago

Hi both, for this software the already available calibration files should work. But, in general, for computer vision applications, e. g. visual odometry, you need to calibrate every camera you use separately (even when they are the same camera model).

Jesús

On Tue, Dec 27, 2016 at 3:44 AM, XidianLemon notifications@github.com wrote:

the project already has two calibration files , why do you let him calibration the camera again ? @jespestana https://github.com/jespestana

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/Vision4UAV/cvg_ardrone2_ibvs/issues/12#issuecomment-269260907, or mute the thread https://github.com/notifications/unsubscribe-auth/ACwb5giUPkg_E1-2O-D62K5I6Wn4Fg3Sks5rMHuYgaJpZM4KyzeX .

XidianLemon commented 7 years ago

Thank you so much for your reply . where should I obtain the introduction of each node function&principle, I am new to ROS. Any help would be highly appreciated. Thank you ! @jespestana

jespestana commented 7 years ago

@XidianLemon , which nodes are you interested in? The best is to follow some of the available ROS tutorials first.

On Tue, Dec 27, 2016 at 9:25 AM, XidianLemon notifications@github.com wrote:

Thank you so much for your reply . where should I obtain the introduction of each node function&principle, I am new to ROS. Any help would be highly appreciated. Thank you ! @jespestana https://github.com/jespestana

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/Vision4UAV/cvg_ardrone2_ibvs/issues/12#issuecomment-269292015, or mute the thread https://github.com/notifications/unsubscribe-auth/ACwb5tuQKSByLRYDwJB9x5WUJgewees2ks5rMMtsgaJpZM4KyzeX .

XidianLemon commented 7 years ago

@jespestana I have followed some ROS tutorials , such as turtlesim , ardrone_autonomy , falkor_ardrone and tum_ardrone . I find that there is an introduction of each node in tum_ardrone , https://github.com/tum-vision/tum_ardrone , README.md ,

I would like to ask if there is such an introduction under this package. think you so much !