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intel / ros_object_analytics

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Failed to load nodelet #52

Closed christenbc closed 5 years ago

christenbc commented 5 years ago

I am using Movidius with this launcher:

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<launch>
  <arg name="namespace"                     default="object_analytics" />
  <arg name="manager"                       default="ObjectAnalyticsMgr" />
  <arg name="input_points"                  default="/camera_floor/driver/depth/color/points"
            doc="point cloud topic from rgbd sensor" />
  <arg name="input_rgb"                     default="/camera_floor/driver/color/image_raw"
            doc="rgb topic from splitter" />
  <arg name="input_detection"               default="/oa_detection"
            doc="detection result topic from object detection nodelet" />
  <arg name="output_localization"           default="/oa_localization"
            doc="localization result topic" />
  <arg name="output_tracking"               default="/oa_tracking"
            doc="tracking result topic" />
  <arg name="aging_th"                      default="16"
            doc="tracking aging threshold" />
  <arg name="probability_th"                default="0.5"
            doc="tracking object probability threshold" />

  <group ns="$(arg namespace)">
      <include file="$(find object_analytics_launch)/launch/includes/manager.launch">
          <arg name="name"                      value="$(arg manager)" />
          <arg name="num_worker_threads"        value="6" />
      </include>

      <include file="$(find object_analytics_launch)/launch/includes/nodelet.launch.xml">
          <arg name="manager"                   value="$(arg manager)" />
          <arg name="input_points"              value="$(arg input_points)" />
          <arg name="input_rgb"                 value="$(arg input_rgb)" />
          <arg name="input_detection"           value="$(arg input_detection)" />
          <arg name="output_localization"       value="$(arg output_localization)" />
          <arg name="output_tracking"           value="$(arg output_tracking)" />
          <arg name="aging_th"                  value="$(arg aging_th)" />
          <arg name="probability_th"            value="$(arg probability_th)" />
      </include>

      <include file="$(find movidius_ncs_launch)/launch/includes/ncs_stream_detection.launch">
          <arg name="manager"                   value="$(arg manager)" />
          <arg name="input_topic"               value="$(arg input_rgb)" />
          <arg name="output_topic"              value="$(arg input_detection)" />
      </include>

  </group>
</launch>

but for some reason, this error appears. I have installed carefully all dependencies and setup correctly I think the launcher. I assured that the input topics are working also.

chbloca@chbloca-VirtualBox:~$ roslaunch object_analytics_launch analytics_movius_ncs.launch 
... logging to /home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/roslaunch-chbloca-VirtualBox-2849.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://chbloca-VirtualBox:40637/

SUMMARY
========

PARAMETERS
 * /object_analytics/ObjectAnalyticsMgr/num_worker_threads: 6
 * /object_analytics/movidius_ncs_stream/category_file_path: /opt/movidius/nca...
 * /object_analytics/movidius_ncs_stream/channel1_mean: 127.5
 * /object_analytics/movidius_ncs_stream/channel2_mean: 127.5
 * /object_analytics/movidius_ncs_stream/channel3_mean: 127.5
 * /object_analytics/movidius_ncs_stream/cnn_type: mobilenetssd
 * /object_analytics/movidius_ncs_stream/graph_file_path: /opt/movidius/nca...
 * /object_analytics/movidius_ncs_stream/log_level: 0
 * /object_analytics/movidius_ncs_stream/max_device_number: 255
 * /object_analytics/movidius_ncs_stream/network_dimension: 300
 * /object_analytics/movidius_ncs_stream/scale: 0.007843
 * /object_analytics/movidius_ncs_stream/start_device_index: 0
 * /object_analytics/movidius_ncs_stream/top_n: 1
 * /object_analytics/tracker/aging_th: 16
 * /object_analytics/tracker/probability_th: 0.5
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /object_analytics/
    ObjectAnalyticsMgr (nodelet/nodelet)
    merger (nodelet/nodelet)
    movidius_ncs_stream (nodelet/nodelet)
    segmenter (nodelet/nodelet)
    splitter (nodelet/nodelet)
    tracker (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[object_analytics/ObjectAnalyticsMgr-1]: started with pid [2869]
process[object_analytics/splitter-2]: started with pid [2870]
process[object_analytics/segmenter-3]: started with pid [2871]
[ INFO] [1553274745.906820339]: Loading nodelet /object_analytics/splitter of type object_analytics_nodelet/splitter/SplitterNodelet to manager ObjectAnalyticsMgr with the following remappings:
[ INFO] [1553274745.909092557]: /camera/depth_registered/points -> /camera_floor/driver/depth/color/points
[ INFO] [1553274745.909279437]: /object_analytics/pointcloud -> /object_analytics/pointcloud
[ INFO] [1553274745.910498695]: /object_analytics/rgb -> /camera_floor/driver/color/image_raw
process[object_analytics/merger-4]: started with pid [2878]
[ INFO] [1553274745.918500429]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] has not been advertised, waiting...
process[object_analytics/tracker-5]: started with pid [2890]
[ INFO] [1553274745.987652434]: Loading nodelet /object_analytics/segmenter of type object_analytics_nodelet/segmenter/SegmenterNodelet to manager ObjectAnalyticsMgr with the following remappings:
[ INFO] [1553274745.987796514]: /object_analytics/pointcloud -> /object_analytics/pointcloud
[ INFO] [1553274745.987846322]: /object_analytics/segmentation -> /object_analytics/segmentation
process[object_analytics/movidius_ncs_stream-6]: started with pid [2900]
[ INFO] [1553274746.081109826]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] has not been advertised, waiting...
[ INFO] [1553274746.128684688]: Loading nodelet /object_analytics/merger of type object_analytics_nodelet/merger/MergerNodelet to manager ObjectAnalyticsMgr with the following remappings:
[ INFO] [1553274746.128755122]: /object_analytics/detection -> /oa_detection
[ INFO] [1553274746.128776373]: /object_analytics/localization -> /oa_localization
[ INFO] [1553274746.128796951]: /object_analytics/segmentation -> /object_analytics/segmentation
[ INFO] [1553274746.189114012]: Loading nodelet /object_analytics/tracker of type object_analytics_nodelet/tracker/TrackingNodelet to manager ObjectAnalyticsMgr with the following remappings:
[ INFO] [1553274746.189256022]: /object_analytics/detection -> /oa_detection
[ INFO] [1553274746.189305684]: /object_analytics/rgb -> /camera_floor/driver/color/image_raw
[ INFO] [1553274746.189386176]: /object_analytics/tracking -> /oa_tracking
[ INFO] [1553274746.223616159]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] has not been advertised, waiting...
[ INFO] [1553274746.227163134]: Loading nodelet /object_analytics/movidius_ncs_stream of type movidius_ncs_stream/NCSNodelet to manager ObjectAnalyticsMgr with the following remappings:
[ INFO] [1553274746.227305517]: /camera/rgb/image_raw -> /camera_floor/driver/color/image_raw
[ INFO] [1553274746.227357220]: /object_analytics/detected_objects -> /oa_detection
[ INFO] [1553274746.270420136]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] has not been advertised, waiting...
[ INFO] [1553274746.295678830]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] has not been advertised, waiting...
[ INFO] [1553274746.311818760]: Initializing nodelet with 6 worker threads.
[ INFO] [1553274746.325354110]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] is now available.
[ INFO] [1553274746.329792605]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] is now available.
[ INFO] [1553274746.336946345]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] is now available.
[ INFO] [1553274746.349411783]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] is now available.
[ INFO] [1553274746.371830856]: waitForService: Service [/object_analytics/ObjectAnalyticsMgr/load_nodelet] is now available.
[ERROR] [1553274746.514946548]: Failed to load nodelet [/object_analytics/movidius_ncs_stream] of type [movidius_ncs_stream/NCSNodelet] even after refreshing the cache: Could not find library corresponding to plugin movidius_ncs_stream/NCSNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1553274746.520358072]: The error before refreshing the cache was: Could not find library corresponding to plugin movidius_ncs_stream/NCSNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1553274746.540415921]: Failed to load nodelet '/object_analytics/movidius_ncs_stream` of type `movidius_ncs_stream/NCSNodelet` to manager `ObjectAnalyticsMgr'
[ERROR] [1553274746.665988366]: Failed to load nodelet [/object_analytics/tracker] of type [object_analytics_nodelet/tracker/TrackingNodelet] even after refreshing the cache: Could not find library corresponding to plugin object_analytics_nodelet/tracker/TrackingNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1553274746.668509983]: The error before refreshing the cache was: Could not find library corresponding to plugin object_analytics_nodelet/tracker/TrackingNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1553274746.686799631]: Failed to load nodelet '/object_analytics/tracker` of type `object_analytics_nodelet/tracker/TrackingNodelet` to manager `ObjectAnalyticsMgr'
[object_analytics/movidius_ncs_stream-6] process has died [pid 2900, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load movidius_ncs_stream/NCSNodelet ObjectAnalyticsMgr /camera/rgb/image_raw:=/camera_floor/driver/color/image_raw detected_objects:=/oa_detection __name:=movidius_ncs_stream __log:=/home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-movidius_ncs_stream-6.log].
log file: /home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-movidius_ncs_stream-6*.log
[ERROR] [1553274746.821122634]: Failed to load nodelet [/object_analytics/merger] of type [object_analytics_nodelet/merger/MergerNodelet] even after refreshing the cache: Could not find library corresponding to plugin object_analytics_nodelet/merger/MergerNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1553274746.823612962]: The error before refreshing the cache was: Could not find library corresponding to plugin object_analytics_nodelet/merger/MergerNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1553274746.848470012]: Failed to load nodelet '/object_analytics/merger` of type `object_analytics_nodelet/merger/MergerNodelet` to manager `ObjectAnalyticsMgr'
[ERROR] [1553274746.963692581]: Failed to load nodelet [/object_analytics/segmenter] of type [object_analytics_nodelet/segmenter/SegmenterNodelet] even after refreshing the cache: Could not find library corresponding to plugin object_analytics_nodelet/segmenter/SegmenterNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[object_analytics/tracker-5] process has died [pid 2890, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load object_analytics_nodelet/tracker/TrackingNodelet ObjectAnalyticsMgr rgb:=/camera_floor/driver/color/image_raw detection:=/oa_detection tracking:=/oa_tracking __name:=tracker __log:=/home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-tracker-5.log].
log file: /home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-tracker-5*.log
[ERROR] [1553274746.985293908]: The error before refreshing the cache was: Could not find library corresponding to plugin object_analytics_nodelet/segmenter/SegmenterNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1553274746.988982390]: Failed to load nodelet '/object_analytics/segmenter` of type `object_analytics_nodelet/segmenter/SegmenterNodelet` to manager `ObjectAnalyticsMgr'
[object_analytics/merger-4] process has died [pid 2878, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load object_analytics_nodelet/merger/MergerNodelet ObjectAnalyticsMgr detection:=/oa_detection segmentation:=segmentation localization:=/oa_localization __name:=merger __log:=/home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-merger-4.log].
log file: /home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-merger-4*.log
[ERROR] [1553274747.140371065]: Failed to load nodelet [/object_analytics/splitter] of type [object_analytics_nodelet/splitter/SplitterNodelet] even after refreshing the cache: Could not find library corresponding to plugin object_analytics_nodelet/splitter/SplitterNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1553274747.144445273]: The error before refreshing the cache was: Could not find library corresponding to plugin object_analytics_nodelet/splitter/SplitterNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1553274747.155470949]: Failed to load nodelet '/object_analytics/splitter` of type `object_analytics_nodelet/splitter/SplitterNodelet` to manager `ObjectAnalyticsMgr'
[object_analytics/segmenter-3] process has died [pid 2871, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load object_analytics_nodelet/segmenter/SegmenterNodelet ObjectAnalyticsMgr pointcloud:=pointcloud segmentation:=segmentation __name:=segmenter __log:=/home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-segmenter-3.log].
log file: /home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-segmenter-3*.log
[object_analytics/splitter-2] process has died [pid 2870, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load object_analytics_nodelet/splitter/SplitterNodelet ObjectAnalyticsMgr /camera/depth_registered/points:=/camera_floor/driver/depth/color/points pointcloud:=pointcloud rgb:=/camera_floor/driver/color/image_raw __name:=splitter __log:=/home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-splitter-2.log].
log file: /home/chbloca/.ros/log/5ae19ed2-4cc5-11e9-a0fd-080027ddc202/object_analytics-splitter-2*.log

Note: I didn't need to install extra camera dependencies since the camera is independent and is already publishing topics.

Any idea of the cause?

christenbc commented 5 years ago

Ok, I forgot to add source ~/ros_ws/devel_isolated/setup.bash to the .bashrc file