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jsk-enshu / robot-programming

This is exercise for robot-programming.
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2017/10/23資料5ページのrosrun image_proc image_proc実行時エラーについて #223

Closed MiraiHattori closed 7 years ago

MiraiHattori commented 7 years ago

10/23資料5ページのrosrun image_proc image_procを実行する際に
~ $ rosrun image_proc image_proc [ WARN] [1510492900.700944342]: Started in the global namespace! This is probably wrong. Start image_proc in the camera namespace. Example command-line usage: $ ROS_NAMESPACE=my_camera rosrun image_proc image_proc terminate called after throwing an instance of 'pluginlib::InvalidXMLException' what(): XML Document has no Root Element. This likely means the XML is malformed or missing. 中止 (コアダンプ)

と出てしまって強制終了してしまいます。このエラーはcamera.launchファイルを作成して、

としてstdoutログを確認しても出ます。 その結果、rosrun image_view image_viewにおいてimage:=image_rect_colorとしても、そのようなノードが存在しないため、ウィンドウが固まってままになります。

$ rostopic list の実行結果は ^C~ $ rostopic list /camera_info /image_raw /image_raw/compressed /image_raw/compressed/parameter_descriptions /image_raw/compressed/parameter_updates /image_raw/compressedDepth /image_raw/compressedDepth/parameter_descriptions /image_raw/compressedDepth/parameter_updates /image_raw/theora /image_raw/theora/parameter_descriptions /image_raw/theora/parameter_updates /rosout /rosout_agg です。

google検索して調べたところ、 https://answers.ros.org/question/204751/how-to-use-image_proc-node/ がヒットして、これによると/camera_info及び/image_rawがあるのでうまく行くのではないかと思いましたが、うまくいきません。

どういった原因が考えられるでしょうか。

ちなみに、環境変数については以下のようになっていました。 catkin_ws[master] $ export | grep ROS declare -x ROSLISP_PACKAGE_DIRECTORIES="/home/future731/private/lecture2017/catkin_ws/devel/share/common-lisp" declare -x ROS_DISTRO="kinetic" declare -x ROS_ETC_DIR="/opt/ros/kinetic/etc/ros" declare -x ROS_MASTER_URI="http://localhost:11311" declare -x ROS_PACKAGE_PATH="/home/future731/private/lecture2017/catkin_ws/src/beginner_tutorials:/home/future731/private/lecture2017/catkin_ws/src/robot-programming/dynamixel_7dof_arm:/home/future731/private/lecture2017/catkin_ws/src/dynamixel_urdf:/home/future731/private/lecture2017/catkin_ws/src/rtmros_tutorials/hironx_tutorial:/home/future731/private/lecture2017/catkin_ws/src/rtmros_common/hrpsys_tools:/home/future731/private/lecture2017/catkin_ws/src/2017-semi/kondo_driver:/home/future731/private/lecture2017/catkin_ws/src/2017-semi/kondo_models:/home/future731/private/lecture2017/catkin_ws/src/2017-semi/kondo_ros_bridge:/home/future731/private/lecture2017/catkin_ws/src/rtmros_tutorials/openhrp3_tutorials:/home/future731/private/lecture2017/catkin_ws/src/rtmros_common/openrtm_tools:/home/future731/private/lecture2017/catkin_ws/src/rtmros_tutorials/hrpsys_tutorials:/home/future731/private/lecture2017/catkin_ws/src/rtmros_common/rosnode_rtc:/home/future731/private/lecture2017/catkin_ws/src/rtmros_common/rtmbuild:/home/future731/private/lecture2017/catkin_ws/src/rtmros_common/hrpsys_ros_bridge:/home/future731/private/lecture2017/catkin_ws/src/2017-semi/hrpsys_kondo_iob:/home/future731/private/lecture2017/catkin_ws/src/rtmros_tutorials/hrpsys_ros_bridge_tutorials:/home/future731/private/lecture2017/catkin_ws/src/rtmros_tutorials/hrpsys_gazebo_tutorials:/home/future731/private/lecture2017/catkin_ws/src/rtmros_common/openrtm_ros_bridge:/home/future731/private/lecture2017/catkin_ws/src/rtmros_common/rtmros_common:/home/future731/private/lecture2017/catkin_ws/src/robot-programming/turtleboteus:/home/future731/private/lecture2017/catkin_ws/src/robot-programming/dxl_armed_turtlebot:/home/future731/private/lecture2017/catkin_ws/src/robot-programming/daisya_euslisp_tutorials:/opt/ros/kinetic/share" declare -x ROS_ROOT="/opt/ros/kinetic/share/ros"

k-okada commented 7 years ago

camera.launch のファイルの中身とそれをroslaunch --screen camera.launchとして実行したときの出力を教えてください．

MiraiHattori commented 7 years ago

${HOME}/private/lecture2017/catkin_ws/src/beginner_tutorials/launch/camera.launchの中身は

です。当該のファイルがあるディレクトリで $ roslaunch camera.launch したところ

launch[master] $ roslaunch camera.launch ... logging to /home/future731/.ros/log/56d2e0da-c805-11e7-b16e-e8b1fce891d5/roslaunch-future731-20395.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://future731:39992/

SUMMARY

PARAMETERS

NODES / camera_driver (uvc_camera/uvc_camera_node) image_proc (image_proc/image_proc) image_view (image_view/image_view)

auto-starting new master process[master]: started with pid [20408] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 56d2e0da-c805-11e7-b16e-e8b1fce891d5 process[rosout-1]: started with pid [20421] started core service [/rosout] process[camera_driver-2]: started with pid [20425] process[image_proc-3]: started with pid [20439] process[image_view-4]: started with pid [20440] terminate called after throwing an instance of 'pluginlib::InvalidXMLException' what(): XML Document has no Root Element. This likely means the XML is malformed or missing. [image_proc-3] process has died [pid 20439, exit code -6, cmd /opt/ros/kinetic/lib/image_proc/image_proc image:=image_raw __name:=image_proc __log:=/home/future731/.ros/log/56d2e0da-c805-11e7-b16e-e8b1fce891d5/image_proc-3.log]. log file: /home/future731/.ros/log/56d2e0da-c805-11e7-b16e-e8b1fce891d5/image_proc-3*.log

となりました。 その状態で別のウィンドウを開いて

launch[master] $ roslaunch --screen camera.launch ... logging to /home/future731/.ros/log/7fd96670-c805-11e7-b16e-e8b1fce891d5/roslaunch-future731-21027.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://future731:35944/

SUMMARY

PARAMETERS

NODES / camera_driver (uvc_camera/uvc_camera_node) image_proc (image_proc/image_proc) image_view (image_view/image_view)

auto-starting new master process[master]: started with pid [21040] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7fd96670-c805-11e7-b16e-e8b1fce891d5 process[rosout-1]: started with pid [21053] started core service [/rosout] process[camera_driver-2]: started with pid [21057] process[image_proc-3]: started with pid [21071] process[image_view-4]: started with pid [21072] [ WARN] [1510531160.927513663]: Started in the global namespace! This is probably wrong. Start image_proc in the camera namespace. Example command-line usage: $ ROS_NAMESPACE=my_camera rosrun image_proc image_proc [ INFO] [1510531160.997627786]: using default calibration URL [ INFO] [1510531160.997690466]: camera calibration URL: file:///home/future731/.ros/camera_info/camera.yaml [ WARN] [1510531160.998276475]: [camera] does not match name 08144361026320a0 in file /home/future731/.ros/camera_info/camera.yaml terminate called after throwing an instance of 'pluginlib::InvalidXMLException' what(): XML Document has no Root Element. This likely means the XML is malformed or missing. opening /dev/video0 [ INFO] [1510531161.061724012]: Using transport "raw" pixfmt 0 = 'YUYV' desc = 'YUYV 4:2:2' discrete: 640x480: 1/30 1/15 discrete: 320x180: 1/30 1/15 discrete: 320x240: 1/30 1/15 discrete: 352x288: 1/30 1/15 discrete: 424x240: 1/30 1/15 discrete: 640x360: 1/30 1/15 discrete: 848x480: 1/20 discrete: 960x540: 1/15 discrete: 1280x720: 1/10 pixfmt 1 = 'MJPG' desc = 'Motion-JPEG' discrete: 640x480: 1/30 1/15 discrete: 320x180: 1/30 1/15 discrete: 320x240: 1/30 1/15 discrete: 352x288: 1/30 1/15 discrete: 424x240: 1/30 1/15 discrete: 640x360: 1/30 1/15 discrete: 848x480: 1/30 1/15 discrete: 960x540: 1/30 1/15 discrete: 1280x720: 1/30 1/15 int (Brightness, 0, id = 980900): 0 to 255 (1) int (Contrast, 0, id = 980901): 0 to 255 (1) int (Saturation, 0, id = 980902): 0 to 100 (1) int (Hue, 0, id = 980903): -180 to 180 (1) bool (White Balance Temperature, Auto, 0, id = 98090c): 0 to 1 (1) int (Gamma, 0, id = 980910): 90 to 150 (1) menu (Power Line Frequency, 0, id = 980918): 0 to 2 (1) 0: Disabled 1: 50 Hz 2: 60 Hz int (White Balance Temperature, 16, id = 98091a): 2800 to 6500 (1) int (Sharpness, 0, id = 98091b): 0 to 7 (1) int (Backlight Compensation, 0, id = 98091c): 0 to 2 (1) menu (Exposure, Auto, 0, id = 9a0901): 0 to 3 (1) int (Exposure (Absolute), 16, id = 9a0902): 4 to 1250 (1) bool (Exposure, Auto Priority, 0, id = 9a0903): 0 to 1 (1) [image_proc-3] process has died [pid 21071, exit code -6, cmd /opt/ros/kinetic/lib/image_proc/image_proc image:=image_raw __name:=image_proc __log:=/home/future731/.ros/log/7fd96670-c805-11e7-b16e-e8b1fce891d5/image_proc-3.log]. log file: /home/future731/.ros/log/7fd96670-c805-11e7-b16e-e8b1fce891d5/image_proc-3*.log

となりました。

MiraiHattori commented 7 years ago

/etc/apt/sources.list.d/ros-latest.listに deb http://packages.ros.org/ros-shadow-fixed/ubuntu xenial main を追加していたため、最新版でXMLファイルがないとプログラムが落ちる仕様になっていたのが原因でした。 当面/opt/ros/kinetic/shared/micros_swarm_framework/package.xmlの62,63行目にあった 61 \ 62 \ 63 \ 64 \ とこの2行をコメントアウトすることで対応することになりました。